Merge branch 'master' into master

butia_navigation_description/config/sick_lms_1xx.launch.xml

@@ -6,6 +6,7 @@
   <node pkg="tf" type="static_transform_publisher" name="sick_broadcaster" args="0.108 0 0.68 0 0 0 1 base_link sick_link 100" />
 
     <!-- robot_description and robot_state_publisher hier evtl. einbauen  -->
+
   <node name="sick_lms_1xx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen">
 
     <!-- default values: -->
@@ -22,7 +23,9 @@
 	<param name="max_ang" type="double" value="1.658" />
     -->
 
+
       <param name="frame_id" type="str" value="sick_link" />
+
     	<param name="use_binary_protocol" type="bool" value="False" />
 	<param name="scanner_type" type="string" value="sick_lms_1xx"/>
 	<param name="range_max" type="double" value="25.0" />
@@ -31,5 +34,4 @@
 	<param name="timelimit" type="int" value="5" />
 
 
-  </node>
 </launch>

butia_navigation_description/urdf/pioneer3at.urdf

@@ -576,7 +576,8 @@
   </link>
   <joint name="hokuyo_joint" type="fixed">
     <!--<axis xyz="0 0 1" />-->
-     <origin rpy="3.1415 0 0" xyz="0.08 0 -0.03"/>
+
+    <origin rpy="3.1415 0 0" xyz="0.08 0 -0.03"/>
     <parent link="base_link"/>
     <child link="hokuyo_link"/>
   </joint>
@@ -614,10 +615,82 @@
         </noise>
       </ray>
       <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller">
-        <topicName>scan</topicName>
+        <topicName>scan2</topicName>
         <frameName>hokuyo_link</frameName>
       </plugin>
     </sensor>
   </gazebo>
+  <link name="sick_mount_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://butia_navigation_description/meshes/sensors/LMS1xx_small.dae" />
+        </geometry>
+        <material name="blue" >
+          <color rgba="0 0 1 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://butia_navigation_description/meshes/sensors/LMS1xx_collision.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="1.1" />
+        <origin xyz="0.052811 0 -0.008195" />
+        <inertia ixx="${0.0833333 * mass * (width * width + height * height)}" ixy="0.0" ixz="0.0"
+          iyy="${0.0833333 * mass * (length * length + height * height)}" iyz="0.0"
+          izz="${0.0833333 * mass * (length * length + width * width)}" />
+      </inertial>
+    </link>
+    <joint name="sick_mount_joint" type="fixed">
+      <parent link="base_link" />
+      <child link="sick_mount_link" />
+      <origin rpy="0 0 0" xyz="0.108 0 0.28"/>
+    </joint>
+    <joint name="sick_joint" type="fixed">
+      <parent link="sick_mount_link" />
+      <child link="sick_laser" />
+      <origin rpy="0 0 0" xyz="0.0549 0 0.0367"/>
+    </joint>
+
+    <link name="sick_laser">
+      <inertial>
+        <mass value="0.001" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.000001" ixy="0.0" ixz="0.0"
+          iyy="0.000001" iyz="0.0" izz="0.000001" />
+      </inertial>
+    </link>
+    <gazebo reference="sick_link">
+      <material value="Gazebo/Blue" />
+      <sensor type="ray" name="sick">
+        <always_on>true</always_on>
+        <update_rate>15.0</update_rate>
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>false</visualize>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>540</samples>
+              <resolution>1</resolution>
+              <min_angle>-2.357</min_angle>
+              <max_angle>2.357</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.5</min>
+            <max>20.0</max>
+            <resolution>0.01</resolution>
+          </range>
+        </ray>
+        <plugin name="gazebo_ros_sick_controller" filename="libgazebo_ros_laser.so">
+          <gaussianNoise>0.005</gaussianNoise>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>15.0</updateRate>
+          <topicName>scan</topicName>
+          <frameName>sick_link</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
 </robot>
 

butia_navigation_description/urdf/sick_lms1xx.urdf.xacro

@@ -0,0 +1,88 @@
+<?xml version="1.0"?>
+<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="sick_lms_1xx" params="name ros_topic">
+    <xacro:sick_lms_1 name="${name}" ros_topic="${ros_topic}"
+      length="0.105636" width="0.102301" height="0.161782" mass="1.1" x_offset="0.052811" z_offset="-0.008195"
+      min_range="0.5" max_range="20.0"/>
+  </xacro:macro>
+
+  <xacro:macro name="sick_lms_1" params="name ros_topic length width height mass x_offset z_offset min_range max_range">
+    <link name="${name}_mount_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://sick_scan/meshes/LMS1xx_small.dae" />
+        </geometry>
+        <material name="blue" >
+          <color rgba="0 0 1 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://sick_scan/meshes/LMS1xx_collision.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="${mass}" />
+        <origin xyz="${x_offset} 0 ${z_offset}" />
+        <inertia ixx="${0.0833333 * mass * (width * width + height * height)}" ixy="0.0" ixz="0.0"
+          iyy="${0.0833333 * mass * (length * length + height * height)}" iyz="0.0"
+          izz="${0.0833333 * mass * (length * length + width * width)}" />
+      </inertial>
+    </link>
+
+    <joint name="${name}_joint" type="fixed">
+      <parent link="${name}_mount_link" />
+      <child link="${name}_laser" />
+      <origin rpy="0 0 0" xyz="0.0549 0 0.0367"/>
+    </joint>
+
+    <link name="${name}_laser">
+      <inertial>
+        <mass value="0.001" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.000001" ixy="0.0" ixz="0.0"
+          iyy="0.000001" iyz="0.0" izz="0.000001" />
+      </inertial>
+    </link>
+    <xacro:sick_lms_1_laser_gazebo_v0 name="${name}" link="${name}_laser" ros_topic="${ros_topic}" update_rate="15.0" min_angle="-2.357" max_angle="2.357" min_range="${min_range}" max_range="${max_range}"/>
+  </xacro:macro>
+
+
+  <xacro:macro name="sick_lms_1_laser_gazebo_v0" params="name link ros_topic update_rate min_angle max_angle min_range max_range">
+    <gazebo reference="${link}">
+      <material value="Gazebo/Blue" />
+      <sensor type="ray" name="${name}">
+        <always_on>true</always_on>
+        <update_rate>${update_rate}</update_rate>
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>false</visualize>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>540</samples>
+              <resolution>1</resolution>
+              <min_angle>${min_angle}</min_angle>
+              <max_angle>${max_angle}</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>${min_range}</min>
+            <max>${max_range}</max>
+            <resolution>0.01</resolution>
+          </range>
+        </ray>
+        <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so">
+          <gaussianNoise>0.005</gaussianNoise>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>${update_rate}</updateRate>
+          <topicName>${ros_topic}</topicName>
+          <frameName>${link}</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>