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updated racecar files

master
mcarfagno 2020-07-01 14:33:16 +01:00
parent 6d3f0005ad
commit f7a46f2ead
70 changed files with 173107 additions and 126 deletions
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63
notebooks/MPC_racecar.ipynb
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141
notebooks/equations.ipynb
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@ -11,7 +11,7 @@
},
{
"cell_type": "code",
"execution_count": 1,
"execution_count": 2,
"metadata": {},
"outputs": [
{
@ -28,7 +28,7 @@
"[0, 0, 0, v*cos(psi), 0]])"
]
},
"execution_count": 1,
"execution_count": 2,
"metadata": {},
"output_type": "execute_result"
}
@ -52,7 +52,7 @@
},
{
"cell_type": "code",
"execution_count": 2,
"execution_count": 3,
"metadata": {},
"outputs": [
{
@ -69,7 +69,7 @@
"[ sin(psi), 0]])"
]
},
"execution_count": 2,
"execution_count": 3,
"metadata": {},
"output_type": "execute_result"
}
@ -83,7 +83,7 @@
},
{
"cell_type": "code",
"execution_count": 3,
"execution_count": 4,
"metadata": {},
"outputs": [
{
@ -98,7 +98,7 @@
"[0, 0, 1]])"
]
},
"execution_count": 3,
"execution_count": 4,
"metadata": {},
"output_type": "execute_result"
}
@ -120,7 +120,7 @@
},
{
"cell_type": "code",
"execution_count": 4,
"execution_count": 5,
"metadata": {},
"outputs": [
{
@ -135,7 +135,7 @@
"[ 0, dt]])"
]
},
"execution_count": 4,
"execution_count": 5,
"metadata": {},
"output_type": "execute_result"
}
@ -156,27 +156,9 @@
},
{
"cell_type": "code",
"execution_count": 8,
"execution_count": 6,
"metadata": {},
"outputs": [
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}0 & 0 & \\cos{\\left(\\theta \\right)} & - v \\sin{\\left(\\theta \\right)}\\\\0 & 0 & \\sin{\\left(\\theta \\right)} & v \\cos{\\left(\\theta \\right)}\\\\0 & 0 & 0 & 0\\\\0 & 0 & \\frac{\\tan{\\left(\\delta \\right)}}{L} & 0\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[0, 0, cos(theta), -v*sin(theta)],\n",
"[0, 0, sin(theta), v*cos(theta)],\n",
"[0, 0, 0, 0],\n",
"[0, 0, tan(delta)/L, 0]])"
]
},
"execution_count": 8,
"metadata": {},
"output_type": "execute_result"
}
],
"outputs": [],
"source": [
"x,y,theta,v,delta,L,a = sp.symbols(\"x y theta v delta L a\")\n",
"\n",
@ -185,15 +167,20 @@
" [a],\n",
" [ v*sp.tan(delta)/L]])\n",
"\n",
"state = sp.Matrix([x,y,v,theta])\n",
"X = sp.Matrix([x,y,v,theta])\n",
"\n",
"#A\n",
"gs.jacobian(state)"
"A=gs.jacobian(X)\n",
"\n",
"U = sp.Matrix([a,delta])\n",
"\n",
"#B\n",
"B=gs.jacobian(U)#.subs({x:0,y:0,theta:0})B="
]
},
{
"cell_type": "code",
"execution_count": 7,
"execution_count": 15,
"metadata": {},
"outputs": [
{
@ -209,16 +196,96 @@
"[0, v*(tan(delta)**2 + 1)/L]])"
]
},
"execution_count": 7,
"execution_count": 15,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"state = sp.Matrix([a,delta])\n",
"\n",
"#B\n",
"gs.jacobian(state)#.subs({x:0,y:0,theta:0})"
"B"
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {},
"outputs": [
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}1 & 0 & dt \\cos{\\left(\\theta \\right)} & - dt v \\sin{\\left(\\theta \\right)}\\\\0 & 1 & dt \\sin{\\left(\\theta \\right)} & dt v \\cos{\\left(\\theta \\right)}\\\\0 & 0 & 1 & 0\\\\0 & 0 & \\frac{dt \\tan{\\left(\\delta \\right)}}{L} & 1\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[1, 0, dt*cos(theta), -dt*v*sin(theta)],\n",
"[0, 1, dt*sin(theta), dt*v*cos(theta)],\n",
"[0, 0, 1, 0],\n",
"[0, 0, dt*tan(delta)/L, 1]])"
]
},
"execution_count": 10,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"#A LIN\n",
"DT = sp.symbols(\"dt\")\n",
"sp.eye(4)+A*DT"
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {},
"outputs": [
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}0 & 0\\\\0 & 0\\\\dt & 0\\\\0 & \\frac{dt v \\left(\\tan^{2}{\\left(\\delta \\right)} + 1\\right)}{L}\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[ 0, 0],\n",
"[ 0, 0],\n",
"[dt, 0],\n",
"[ 0, dt*v*(tan(delta)**2 + 1)/L]])"
]
},
"execution_count": 11,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"B*DT"
]
},
{
"cell_type": "code",
"execution_count": 13,
"metadata": {},
"outputs": [
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}dt \\theta v \\sin{\\left(\\theta \\right)}\\\\- dt \\theta v \\cos{\\left(\\theta \\right)}\\\\0\\\\- \\frac{\\delta dt v \\left(\\tan^{2}{\\left(\\delta \\right)} + 1\\right)}{L}\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[ dt*theta*v*sin(theta)],\n",
"[ -dt*theta*v*cos(theta)],\n",
"[ 0],\n",
"[-delta*dt*v*(tan(delta)**2 + 1)/L]])"
]
},
"execution_count": 13,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"DT*(gs - A*X - B*U)"
]
},
{
@ -422,6 +489,8 @@
"source": [
"It is necessary to take *actuation latency* into account: so instead of using the actual state as estimated, the delay factored in using the kinematic model\n",
"\n",
"Starting State is :\n",
"\n",
"* $x_{delay} = 0.0 + v * dt$\n",
"* $y_{delay} = 0.0$\n",
"* $psi_{delay} = 0.0 + w * dt$\n",

52
racecar.py
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@ -1,52 +0,0 @@
import pybullet as p
import pybullet_data
import time
import os
p.connect(p.GUI)
p.resetSimulation()
p.setGravity(0, 0, -10)
useRealTimeSim = 1
#for video recording (works best on Mac and Linux, not well on Windows)
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
p.setRealTimeSimulation(useRealTimeSim) # either this
p.loadURDF(os.path.join(pybullet_data.getDataPath(), "plane.urdf"))
car = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "racecar/racecar.urdf"))
for i in range(p.getNumJoints(car)):
print(p.getJointInfo(car, i))
inactive_wheels = [3, 5, 7]
wheels = [2]
for wheel in inactive_wheels:
p.setJointMotorControl2(car, wheel, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
steering = [4, 6]
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity", -10, 10, 0)
maxForceSlider = p.addUserDebugParameter("maxForce", 0, 10, 10)
steeringSlider = p.addUserDebugParameter("steering", -0.5, 0.5, 0)
while (True):
maxForce = p.readUserDebugParameter(maxForceSlider)
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = p.readUserDebugParameter(steeringSlider)
for wheel in wheels:
p.setJointMotorControl2(car,
wheel,
p.VELOCITY_CONTROL,
targetVelocity=targetVelocity,
force=maxForce)
for steer in steering:
p.setJointMotorControl2(car, steer, p.POSITION_CONTROL, targetPosition=steeringAngle)
if (useRealTimeSim == 0):
p.stepSimulation()
time.sleep(0.01)

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<?xml version="1.0" ?>
<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="world"/>
<link name="diff_ring">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_ring.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
<geometry>
<cylinder length="0.01" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="diff_ring_world" type="continuous">
<parent link="world"/>
<child link="diff_ring"/>
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_spiderA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_spiderA_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_spiderA"/>
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_spiderB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_spiderB_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_spiderB"/>
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_sideA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_sideA_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_sideA"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_sideB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_sideB_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_sideB"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
</robot>

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racecar/f10_racecar/differential/modelorigin.txt Normal file
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@ -0,0 +1,2 @@
stl files were copied from http://www.otvinta.com/download09.html
URDF file was manually created, along with mimicJointConstraint.py

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racecar/f10_racecar/meshes/barca_track.mtl Normal file
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@ -0,0 +1,65 @@
# Blender MTL File: 'None'
# Material Count: 7
newmtl Grass
Ns 1.960784
Ka 0.000000 0.000000 0.000000
Kd 0.034510 0.131765 0.028235
Ks 0.000000 0.000000 0.000000
Ni -1.000000
d 1.000000
illum 2
newmtl Road
Ns 1.960784
Ka 0.000000 0.000000 0.000000
Kd 0.172549 0.172549 0.172549
Ks 0.000000 0.000000 0.000000
Ni -1.000000
d 1.000000
illum 2
newmtl Text
Ns 1.960784
Ka 0.000000 0.000000 0.000000
Kd 0.608627 0.445490 0.163138
Ks 0.000000 0.000000 0.000000
Ni -1.000000
d 1.000000
illum 2
newmtl Wall-top
Ns 1.960784
Ka 0.000000 0.000000 0.000000
Kd 0.040784 0.087843 0.235294
Ks 0.000000 0.000000 0.000000
Ni -1.000000
d 1.000000
illum 2
newmtl Walls
Ns 1.960784
Ka 0.000000 0.000000 0.000000
Kd 0.288627 0.649412 0.652549
Ks 0.000000 0.000000 0.000000
Ni -1.000000
d 1.000000
illum 2
newmtl Water
Ns 1.960784
Ka 0.000000 0.000000 0.000000
Kd 0.131765 0.250981 0.495686
Ks 0.000000 0.000000 0.000000
Ni -1.000000
d 1.000000
illum 2
newmtl water-wall
Ns 1.960784
Ka 0.000000 0.000000 0.000000
Kd 0.564706 0.125490 0.125490
Ks 0.000000 0.000000 0.000000
Ni -1.000000
d 1.000000
illum 2

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racecar/f10_racecar/meshes/barca_track.obj Normal file
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racecar/f10_racecar/meshes/barca_track.sdf Normal file
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<sdf version='1.6'>
<world name='default'>
<gravity>0 0 -9.8</gravity>
<model name='part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision concave='yes' name='collision_0'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part0.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part0.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part1.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d1'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision concave='yes' name='collision_1'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part1.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part1.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>0.2 0.6 0.2 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision concave='yes' name='collision_2'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part2.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part2.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part3.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d3'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision concave='yes' name='collision_3'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part3.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part3.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part4.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d4'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision concave='yes' name='collision_4'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part4.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
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1192
racecar/f10_racecar/meshes/part0.obj Normal file
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60
racecar/f10_racecar/meshes/part1.obj Normal file
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mtllib barca_track.mtl
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7764
racecar/f10_racecar/meshes/part3.obj Normal file
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596
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# Exported using automatic converter by Erwin Coumans
mtllib barca_track.mtl
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s off
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14424
racecar/f10_racecar/meshes/part5.obj Normal file
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racecar/f10_racecar/meshes/part6.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 2
newmtl Road.004
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.138039 0.138039 0.138039
Ks 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
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newmtl Road.005
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.138039 0.138039 0.138039
Ks 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
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map_Kd road.png

13221
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9452
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BIN
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11
racecar/f10_racecar/meshes/right_front_wheel.mtl Normal file
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@ -0,0 +1,11 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd wheel.jpg

3625
racecar/f10_racecar/meshes/right_front_wheel.obj Normal file
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racecar/f10_racecar/meshes/right_rear_wheel.STL Normal file
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racecar/f10_racecar/meshes/right_rear_wheel.dae Normal file
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racecar/f10_racecar/meshes/right_rear_wheel.mtl Normal file
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@ -0,0 +1,11 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
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3625
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racecar/f10_racecar/meshes/right_steering_hinge.dae Normal file
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racecar/f10_racecar/meshes/road.png Normal file
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racecar/f10_racecar/meshes/walker_racecourse.dae Normal file
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racecar/f10_racecar/meshes/wheel.jpg Normal file
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493
racecar/f10_racecar/racecar.urdf Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- inertial parameter macros -->
<!-- geometry macros -->
<!-- transmission macros -->
<!-- Add chassis and it's inertia link -->
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
</link>
<link name="chassis">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/chassis.STL"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<joint name="base_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<parent link="base_link"/>
<child link="chassis"/>
</joint>
<link name="chassis_inertia">
<inertial>
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
<mass value="4.0"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
</link>
<joint name="chassis_inertia_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis"/>
<child link="chassis_inertia"/>
</joint>
<!-- Add the left rear wheel with its joints and tranmissions -->
<link name="left_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_rear_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
robot
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_rear_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
<parent link="chassis"/>
<child link="left_rear_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_rear_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_rear_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the right rear wheel with its joints and tranmissions -->
<link name="right_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_rear_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_rear_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
<parent link="chassis"/>
<child link="right_rear_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_rear_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_rear_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left steering hinge with its joints and tranmissions -->
<link name="left_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.100"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_steering_hinge.STL"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="left_steering_hinge_joint" type="revolute">
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
<parent link="chassis"/>
<child link="left_steering_hinge"/>
<axis xyz="-1 0 0"/>
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
</joint>
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_steering_hinge_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_steering_hinge_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the right steering hinge with its joints and tranmissions -->
<link name="right_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.100"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_steering_hinge.STL"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="right_steering_hinge_joint" type="continuous">
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
<parent link="chassis"/>
<child link="right_steering_hinge"/>
<axis xyz="-1 0 0"/>
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
</joint>
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_steering_hinge_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_steering_hinge_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="left_front_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_front_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<parent link="left_steering_hinge"/>
<child link="left_front_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_front_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_front_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="right_front_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_front_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<parent link="right_steering_hinge"/>
<child link="right_front_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_front_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_front_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add Hokuyo laser scanner -->
<link name="laser">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.130"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hokuyo.obj"/>
<material name="grey"/>
</geometry>
</visual>
</link>
<joint name="hokuyo_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
<parent link="chassis"/>
<child link="laser"/>
<axis xyz="0 0 1"/>
</joint>
<!-- zed camera -->
<link name="zed_camera_link">
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.033 0.175 0.030"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.033 0.175 0.030"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="zed_camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
<parent link="chassis"/>
<child link="zed_camera_link"/>
<axis xyz="0 0 1"/>
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
</joint>
<!-- zed camera lenses -->
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
<link name="camera_link">
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<link name="zed_camera_right_link">
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="zed_camera_left_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.06 0"/>
<parent link="zed_camera_link"/>
<child link="camera_link"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="zed_camera_right_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
<parent link="zed_camera_link"/>
<child link="zed_camera_right_link"/>
<axis xyz="0 0 1"/>
</joint>
<!-- Add the remaining xacros -->
<!-- Gazebo references -->
<gazebo reference="chassis">
<mu1 value="0.0"/>
<mu2 value="0.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="left_rear_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_rear_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="left_front_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="0 0 1"/>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_front_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="0 0 1"/>
<material>Gazebo/Black</material>
</gazebo>
<!-- Gazebo plugins -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/racecar</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<gazebo reference="laser">
<material>Gazebo/Grey</material>
<sensor name="hokuyo_sensor" type="ray">
<pose>0 0 0.0124 0 0 0</pose>
<visualize>true</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>1081</samples>
<resolution>1</resolution>
<min_angle>-2.3561944902</min_angle>
<max_angle>2.3561944902</max_angle>
</horizontal>
</scan>
<range>
<min>0.1</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
<topicName>/scan</topicName>
<frameName>laser</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="camera_link">
<sensor name="zed_camera_left_sensor" type="camera">
<update_rate>30.0</update_rate>
<!-- math.atan(320 / 687.8065795898438) * 2 -->
<camera name="zed_camera_left_camera">
<horizontal_fov>0.8709216071359963</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>B8G8R8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>/camera/zed</cameraName>
<imageTopicName>rgb/image_rect_color</imageTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0</hackBaseline>
<!-- set this to 0.12 for the second camera -->
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<material name="white">
<color rgba="1. 1. 1. 1.0"/>
</material>
<material name="black">
<color rgba="0. 0. 0. 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
</robot>

743
racecar/f10_racecar/racecar_differential.urdf Normal file
View File

@ -0,0 +1,743 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- inertial parameter macros -->
<!-- geometry macros -->
<!-- transmission macros -->
<!-- Add chassis and it's inertia link -->
<link name="chassis">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
</geometry>
<material name="blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.2 0 0."/>
<mass value="4.0"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
</link>
<!-- Add the left rear wheel with its joints and tranmissions -->
<link name="left_rear_wheel">
<contact>
<lateral_friction value=".5"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_rear_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_rear_wheel_joint" type="fixed">
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
<parent link="diff_sideA"/>
<child link="left_rear_wheel"/>
</joint>
<!-- Add the right rear wheel with its joints and tranmissions -->
<link name="right_rear_wheel">
<contact>
<lateral_friction value=".5"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_rear_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_rear_wheel_joint" type="fixed">
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
<parent link="diff_sideB"/>
<child link="right_rear_wheel"/>
</joint>
<!-- Add the left steering hinge with its joints and tranmissions -->
<link name="left_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.100"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_steering_hinge.STL"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="left_steering_hinge_joint" type="revolute">
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
<parent link="chassis"/>
<child link="left_steering_hinge"/>
<axis xyz="-1 0 0"/>
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
</joint>
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_steering_hinge_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_steering_hinge_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the right steering hinge with its joints and tranmissions -->
<link name="right_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.100"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_steering_hinge.STL"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="right_steering_hinge_joint" type="continuous">
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
<parent link="chassis"/>
<child link="right_steering_hinge"/>
<axis xyz="-1 0 0"/>
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
</joint>
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_steering_hinge_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_steering_hinge_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="left_front_wheel">
<contact>
<lateral_friction value=".8"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_front_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<parent link="left_steering_hinge"/>
<child link="left_front_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_front_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_front_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="right_front_wheel">
<contact>
<lateral_friction value="0.8"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_front_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<parent link="right_steering_hinge"/>
<child link="right_front_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_front_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_front_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add Hokuyo laser scanner -->
<link name="laser">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.130"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hokuyo.obj"/>
<material name="grey"/>
</geometry>
</visual>
</link>
<joint name="hokuyo_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
<parent link="chassis"/>
<child link="laser"/>
<axis xyz="0 0 1"/>
</joint>
<!-- zed camera -->
<link name="zed_camera_link">
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.033 0.175 0.030"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.033 0.175 0.030"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="zed_camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
<parent link="chassis"/>
<child link="zed_camera_link"/>
<axis xyz="0 0 1"/>
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
</joint>
<!-- zed camera lenses -->
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
<link name="camera_link">
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<link name="zed_camera_right_link">
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="zed_camera_left_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.06 0"/>
<parent link="zed_camera_link"/>
<child link="camera_link"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="zed_camera_right_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
<parent link="zed_camera_link"/>
<child link="zed_camera_right_link"/>
<axis xyz="0 0 1"/>
</joint>
<!-- Add the remaining xacros -->
<link name="diff_ring">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.0637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
</geometry>
<material name="green"/>
</visual>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
<geometry>
<cylinder length="0.01" radius="0.025"/>
</geometry>
</collision>
</link>
<joint name="diff_ring_chassis" type="continuous">
<parent link="chassis"/>
<child link="diff_ring"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0."/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_spiderA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_spiderA_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_spiderA"/>
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_spiderB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="brown"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_spiderB_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_spiderB"/>
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_sideA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_sideA_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_sideA"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_sideB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_sideB_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_sideB"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_ring">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.0637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
</geometry>
<material name="green"/>
</visual>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
<geometry>
<cylinder length="0.01" radius="0.025"/>
</geometry>
</collision>
</link>
<joint name="diff2_ring_chassis" type="continuous">
<parent link="chassis"/>
<child link="diff2_ring"/>
<origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_spiderA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff2_spiderA_ring" type="continuous">
<parent link="diff2_ring"/>
<child link="diff2_spiderA"/>
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_spiderB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="brown"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff2_spiderB_ring" type="continuous">
<parent link="diff2_ring"/>
<child link="diff2_spiderB"/>
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_sideA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff2_sideA_ring" type="continuous">
<parent link="diff2_ring"/>
<child link="diff2_sideA"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_sideB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff2_sideB_ring" type="continuous">
<parent link="diff2_ring"/>
<child link="diff2_sideB"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<material name="white">
<color rgba="1. 1. 1. 1.0"/>
</material>
<material name="black">
<color rgba="0. 0. 0. 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>

15
racecar/plane.mtl Normal file
View File

@ -0,0 +1,15 @@
newmtl Material
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka cube.tga
map_Kd checker_blue.png

18
racecar/plane.obj Normal file
View File

@ -0,0 +1,18 @@
# Blender v2.66 (sub 1) OBJ File: ''
# www.blender.org
mtllib plane.mtl
o Plane
v 15.000000 -15.000000 0.000000
v 15.000000 15.000000 0.000000
v -15.000000 15.000000 0.000000
v -15.000000 -15.000000 0.000000
vt 15.000000 0.000000
vt 15.000000 15.000000
vt 0.000000 15.000000
vt 0.000000 0.000000
usemtl Material
s off
f 1/1 2/2 3/3
f 1/1 3/3 4/4

29
racecar/plane.urdf Normal file
View File

@ -0,0 +1,29 @@
<?xml version="0.0" ?>
<robot name="plane">
<link name="planeLink">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<plane normal="0 0 1"/>
</geometry>
</collision>
</link>
</robot>

198
racecar/racecar.py Normal file
View File

@ -0,0 +1,198 @@
import pybullet as p
import time
import math
import os
import pybullet_data
p.connect(p.GUI)
p.resetSimulation()
p.setGravity(0,0,-10)
useRealTimeSim = 0
p.setTimeStep(1./120.)
p.setRealTimeSimulation(useRealTimeSim) # either this
track = p.loadURDF("plane.urdf")
#track = p.loadSDF("f10_racecar/meshes/barca_track.sdf", globalScaling=1)
#otherCar = p.loadURDF("f10_racecar/racecar_differential.urdf", [0,1,.3])
car = p.loadURDF("f10_racecar/racecar_differential.urdf", [0,0,.3])
for wheel in range(p.getNumJoints(car)):
print("joint[",wheel,"]=", p.getJointInfo(car,wheel))
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
p.getJointInfo(car,wheel)
wheels = [8,15]
print("----------------")
#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
steering = [0,2]
hokuyo_joint=4
zed_camera_joint = 5
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-2,2,0)
maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
# replaceLines=True
# numRays=100
# rayFrom=[]
# rayTo=[]
# rayIds=[]
# rayHitColor = [1,0,0]
# rayMissColor = [0,1,0]
# rayLen = 8
# rayStartLen=0.25
# for i in range (numRays):
# #rayFrom.append([0,0,0])
# rayFrom.append([rayStartLen*math.sin(-0.5*0.25*2.*math.pi+0.75*2.*math.pi*float(i)/numRays), rayStartLen*math.cos(-0.5*0.25*2.*math.pi+0.75*2.*math.pi*float(i)/numRays),0])
# rayTo.append([rayLen*math.sin(-0.5*0.25*2.*math.pi+0.75*2.*math.pi*float(i)/numRays), rayLen*math.cos(-0.5*0.25*2.*math.pi+0.75*2.*math.pi*float(i)/numRays),0])
# if (replaceLines):
# rayIds.append(p.addUserDebugLine(rayFrom[i], rayTo[i], rayMissColor,parentObjectUniqueId=car, parentLinkIndex=hokuyo_joint ))
# else:
# rayIds.append(-1)
#def getCarYaw(car):
# carPos,carOrn = p.getBasePositionAndOrientation(car)
# carEuler = p.getEulerFromQuaternion(carOrn)
# carYaw = carEuler[2]*360/(2.*math.pi)-90
# return carYaw
#prevCarYaw = getCarYaw(car)
frame = 0
lineId = p.addUserDebugLine([0,0,0],[0,0,1],[1,0,0])
lineId2 = p.addUserDebugLine([0,0,0],[0,0,1],[1,0,0])
lineId3= p.addUserDebugLine([0,0,0],[0,0,1],[1,0,0])
print("lineId=",lineId)
#camInfo = p.getDebugVisualizerCamera()
lastTime = time.time()
lastControlTime = time.time()
#lastLidarTime = time.time()
def getCarVel(car):
linVel,angVel = p.getBaseVelocity(car)
return linVel[0]
#frame=0
while (True):
#print (getCarVel(car))
nowTime = time.time()
#render Camera at 10Hertz
# if (nowTime-lastTime>.1):
# ls = p.getLinkState(car,zed_camera_joint, computeForwardKinematics=True)
# camPos = ls[0]
# camOrn = ls[1]
# camMat = p.getMatrixFromQuaternion(camOrn)
# upVector = [0,0,1]
# forwardVec = [camMat[0],camMat[3],camMat[6]]
# #sideVec = [camMat[1],camMat[4],camMat[7]]
# camUpVec = [camMat[2],camMat[5],camMat[8]]
# camTarget = [camPos[0]+forwardVec[0]*10,camPos[1]+forwardVec[1]*10,camPos[2]+forwardVec[2]*10]
# camUpTarget = [camPos[0]+camUpVec[0],camPos[1]+camUpVec[1],camPos[2]+camUpVec[2]]
# viewMat = p.computeViewMatrix(camPos, camTarget, camUpVec)
# projMat = camInfo[3]
# #p.getCameraImage(320,200,viewMatrix=viewMat,projectionMatrix=projMat, flags=p.ER_NO_SEGMENTATION_MASK, renderer=p.ER_BULLET_HARDWARE_OPENGL)
# p.getCameraImage(320,200,viewMatrix=viewMat,projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
# lastTime=nowTime
nowControlTime = time.time()
nowLidarTime = time.time()
#lidar at 20Hz
# if (nowLidarTime-lastLidarTime>.3):
# #print("Lidar!")
# numThreads=0
# results = p.rayTestBatch(rayFrom,rayTo,numThreads, parentObjectUniqueId=car, parentLinkIndex=hokuyo_joint)
# for i in range (numRays):
# hitObjectUid=results[i][0]
# hitFraction = results[i][2]
# hitPosition = results[i][3]
# if (hitFraction==1.):
# p.addUserDebugLine(rayFrom[i],rayTo[i], rayMissColor,replaceItemUniqueId=rayIds[i],parentObjectUniqueId=car, parentLinkIndex=hokuyo_joint)
# else:
# localHitTo = [rayFrom[i][0]+hitFraction*(rayTo[i][0]-rayFrom[i][0]),
# rayFrom[i][1]+hitFraction*(rayTo[i][1]-rayFrom[i][1]),
# rayFrom[i][2]+hitFraction*(rayTo[i][2]-rayFrom[i][2])]
# p.addUserDebugLine(rayFrom[i],localHitTo, rayHitColor,replaceItemUniqueId=rayIds[i],parentObjectUniqueId=car, parentLinkIndex=hokuyo_joint)
# lastLidarTime = nowLidarTime
#control at 100Hz
if (nowControlTime-lastControlTime>.01):
carPos,carOrn = p.getBasePositionAndOrientation(car)
# Keep the previous orientation of the camera set by the user.
# yaw = camInfo[8]
# pitch = camInfo[9]
# distance = camInfo[10]
# targetPos = camInfo[11]
# camFwd = camInfo[5]
# carYaw = getCarYaw(car)
#
# #the car yaw is clamped between -90 and 270, make sure to deal with angles that wrap around
# if (carYaw-prevCarYaw>45):
# yaw+=360
# if (carYaw-prevCarYaw<-45):
# yaw-=360
# prevCarYaw = carYaw
#print("carYaw=", carYaw)
#print("camYaw=", yaw)
#slowly rotate the camera behind the car
#diffYaw = (carYaw-yaw)*0.03
#track the position of the car as target
#p.resetDebugVisualizerCamera(distance, yaw+diffYaw, pitch, carPos)
maxForce = p.readUserDebugParameter(maxForceSlider)
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = p.readUserDebugParameter(steeringSlider)
#print(targetVelocity)
gearRatio=1./21
for wheel in wheels:
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity/gearRatio,force=maxForce)
for steer in steering:
p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
if (useRealTimeSim==0):
frame+=1
p.stepSimulation()
lastControlTime=nowControlTime