Merge pull request #13 from robotology/addLaser2

Double laser for CER-SIM
robotology · Aug 26, 2019 · 0a4f076 · 0a4f076
2 parents 93a3887 + 09342c3
commit 0a4f076
Show file tree

Hide file tree

Showing 6 changed files with 7,901 additions and 14 deletions.
diff --git a/gazebo/cer/cer.sdf b/gazebo/cer/cer.sdf
@@ -20,7 +20,7 @@
  <geometry>
  <mesh>
  <scale>0.001 0.001 0.001</scale>
- <uri>model://cer/meshes/dae/sim_cer_mobilebase_body.dae</uri>
+ <uri>model://cer/meshes/obj/sim_cer_mobilebase_body.obj</uri>
  </mesh>
  </geometry>
  <surface>
@@ -40,7 +40,7 @@
  <geometry>
  <mesh>
  <scale>0.001 0.001 0.001</scale>
- <uri>model://cer/meshes/dae/sim_cer_mobilebase_body.dae</uri>
+ <uri>model://cer/meshes/obj/sim_cer_mobilebase_body.obj</uri>
  </mesh>
  </geometry>
  <material>
@@ -55,17 +55,18 @@
  <always_on>1</always_on>
  <update_rate>40</update_rate>
  <pose frame=''>0.07 0 0.031 0 -0 0</pose>
+ <visualize>true</visualize>
  <ray>
  <scan>
  <horizontal>
  <samples>360</samples>
- <resolution>1</resolution>
- <min_angle>-3.14</min_angle>
- <max_angle>3.14</max_angle>
+ <resolution>2</resolution>
+ <min_angle>0</min_angle>
+ <max_angle>6.28</max_angle>
  </horizontal>
  </scan>
  <range>
- <min>0.1</min>
+ <min>0.04</min>
  <max>5</max>
  <resolution>0.01</resolution>
  </range>
@@ -79,6 +80,36 @@
  <yarpConfigurationFile>model://cer/conf/gazebo_cer_laser_sensor.ini</yarpConfigurationFile>
  </plugin>
  </sensor>
+ <sensor name='base_laser2' type='ray'>
+ <always_on>1</always_on>
+ <update_rate>40</update_rate>
+ <pose frame=''>-0.085 0 0.031 0 0 3.14159</pose>
+ <visualize>true</visualize>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>2</resolution>
+ <min_angle>0</min_angle>
+ <max_angle>6.28</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.04</min>
+ <max>5</max>
+ <resolution>0.01</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0</mean>
+ <stddev>0.005</stddev>
+ </noise>
+ </ray>
+ <plugin name='laser_sensor2' filename='libgazebo_yarp_lasersensor.so'>
+ <yarpConfigurationFile>model://cer/conf/gazebo_cer_laser_sensor2.ini</yarpConfigurationFile>
+ </plugin>
+ </sensor>
+
  <gravity>1</gravity>
  <velocity_decay/>
  </link>
@@ -2292,6 +2323,9 @@
  <plugin name='world_interface' filename='libgazebo_yarp_worldinterface.so'>
  <yarpConfigurationFile>model://cer/conf/worldInterface.ini</yarpConfigurationFile>
  </plugin>
+ <plugin name='double_laser' filename='libgazebo_yarp_doublelaser.so'>
+ <yarpConfigurationFile>model://cer/conf/gazebo_cer_doublelaser.ini</yarpConfigurationFile>
+ </plugin>
  <static>0</static>
  <pose frame=''>0 0 0.16 0 -0 0</pose>
  </model>

diff --git a/gazebo/cer/conf/gazebo_cer_doublelaser.ini b/gazebo/cer/conf/gazebo_cer_doublelaser.ini
@@ -0,0 +1,27 @@
+[include "gazebo_cer_robotname.ini"]
+
+robotName ${gazeboYarpPluginsRobotName}
+
+onSimulator true
+
+[WRAPPER]
+device Rangefinder2DWrapper
+period 10
+name /${gazeboYarpPluginsRobotName}/laser:o
+
+[ROS]
+useROS true 
+ROS_nodeName /${gazeboYarpPluginsRobotName}-laser 
+ROS_topicName /laser
+frame_id /mobile_base_double_lidar 
+
+[LASERFRONT-CFG]
+sensorName base_laser
+pose 0.070 0.0 0.031 0
+file gazebo_cer_laser_sensor.ini
+
+[LASERBACK-CFG]
+sensorName base_laser2
+pose -0.085 0.0 0.031 3.14159
+file gazebo_cer_laser_sensor2.ini
+
diff --git a/gazebo/cer/conf/gazebo_cer_laser_sensor.ini b/gazebo/cer/conf/gazebo_cer_laser_sensor.ini
@@ -5,13 +5,13 @@ deviceId base_laser
 period 10
 
 device gazebo_lasersensor
-name /${gazeboYarpPluginsRobotName}/laser
+name /${gazeboYarpPluginsRobotName}/laser/front:o
 
 [ROS]
 useROS true 
-ROS_nodeName /cer_laser 
-ROS_topicName /laser 
-frame_id /mobile_base_body_link 
+ROS_nodeName /${gazeboYarpPluginsRobotName}-laserFront
+ROS_topicName /laserFront
+frame_id /mobile_base_lidar_F 
 
 [GENERAL]
 enable_clip_range 0
@@ -20,11 +20,11 @@ clip_min_range 0.2
 enable_discard_range 1 
 discard_max_range 5.0
 discard_min_range 0.2 
-max_angle 359 
+max_angle 360 
 min_angle 0 
-resolution 1 
+resolution 0.5 
 allow_infinity 1
 
 [SKIP]
-min 0 240 
-max 120 360
+min 35 
+max 325
diff --git a/gazebo/cer/conf/gazebo_cer_laser_sensor2.ini b/gazebo/cer/conf/gazebo_cer_laser_sensor2.ini
@@ -0,0 +1,30 @@
+[include "gazebo_cer_robotname.ini"]
+
+robotName ${gazeboYarpPluginsRobotName}
+deviceId base_laser2
+period 10
+
+device gazebo_lasersensor
+name /${gazeboYarpPluginsRobotName}/laser/back:o
+
+[ROS]
+useROS true 
+ROS_nodeName /${gazeboYarpPluginsRobotName}-laserBack 
+ROS_topicName /laserBack 
+frame_id /mobile_base_lidar_B 
+
+[GENERAL]
+enable_clip_range 0
+clip_max_range 5.0
+clip_min_range 0.2 
+enable_discard_range 1 
+discard_max_range 5.0
+discard_min_range 0.2 
+max_angle 360 
+min_angle 0 
+resolution 0.5 
+allow_infinity 1
+
+[SKIP]
+min 60 
+max 300 
diff --git a/gazebo/cer/meshes/obj/sim_cer_mobilebase_body.mtl b/gazebo/cer/meshes/obj/sim_cer_mobilebase_body.mtl
@@ -0,0 +1,6 @@
+newmtl DEFAULT_MTL
+Kd 0.635 0.686 0.749
+
+newmtl MTL0 
+Kd 0.071 0.075 0.078
+