From cd7e7e4bfb9665273a4df709b1e77ca37b436e80 Mon Sep 17 00:00:00 2001 From: varundevsukhil Date: Sun, 26 Apr 2020 16:49:52 -0400 Subject: [PATCH] Fixed path issues --- config/one_car.launch.xml | 23 +- config/vehicle_class.launch.xml | 6 +- launch/racecar.access | 35 + launch/simulator.master | 47 +- rviz/car_1.rviz | 207 +++++ rviz/car_2.rviz | 207 +++++ rviz/car_3.rviz | 207 +++++ rviz/car_4.rviz | 207 +++++ rviz/car_5.rviz | 207 +++++ rviz/car_6.rviz | 207 +++++ rviz/car_7.rviz | 207 +++++ rviz/car_8.rviz | 207 +++++ scripts/command_multiplexer.py | 77 ++ scripts/keyboard_teleop.py | 64 ++ urdf/macros.xacro | 16 +- urdf/xacros/macros.xacro.normal | 16 +- world/race_track_obstacles.world | 1458 ++++++++++++++++++++++++++++++ 17 files changed, 3349 insertions(+), 49 deletions(-) create mode 100644 launch/racecar.access create mode 100644 rviz/car_1.rviz create mode 100644 rviz/car_2.rviz create mode 100644 rviz/car_3.rviz create mode 100644 rviz/car_4.rviz create mode 100644 rviz/car_5.rviz create mode 100644 rviz/car_6.rviz create mode 100644 rviz/car_7.rviz create mode 100644 rviz/car_8.rviz create mode 100755 scripts/command_multiplexer.py create mode 100755 scripts/keyboard_teleop.py create mode 100644 world/race_track_obstacles.world diff --git a/config/one_car.launch.xml b/config/one_car.launch.xml index 4a14e40..0f8d34f 100644 --- a/config/one_car.launch.xml +++ b/config/one_car.launch.xml @@ -15,11 +15,12 @@ default = 'false'/> - + default = 'false'/> + @@ -29,8 +30,6 @@ value = 'true'/> - + value = '$(find f1tenth-sim)/world/$(arg world_name).world'/> - + args = '$(arg car_name)'/> - + args = '$(arg car_name)'/> - + - @@ -36,7 +36,7 @@ + "$(find f1tenth-sim)/urdf/macros.xacro" robot_name:=$(arg car_name) robot_skin:=$(arg paint)'/> diff --git a/launch/racecar.access b/launch/racecar.access new file mode 100644 index 0000000..d1058d1 --- /dev/null +++ b/launch/racecar.access @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/launch/simulator.master b/launch/simulator.master index 732aa55..83cfbf5 100644 --- a/launch/simulator.master +++ b/launch/simulator.master @@ -2,11 +2,15 @@ + + + @@ -14,7 +18,7 @@ to = '/map'/> - + + value = 'true'/> + - + - + - + - + - + - + - + diff --git a/rviz/car_1.rviz b/rviz/car_1.rviz new file mode 100644 index 0000000..4bda024 --- /dev/null +++ b/rviz/car_1.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Car_11 + - /Car_11/Odometry1/Shape1 + - /Global Parematers1 + Splitter Ratio: 0.6294117569923401 + Tree Height: 161 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /car_1/camera/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Chase Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.02500000037252903 + Style: Flat Squares + Topic: /car_1/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Base Footprint + Topic: /car_1/base/footprint + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 239; 41; 41 + Head Length: 0.25 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /car_1/base/odom + Unreliable: false + Value: true + Enabled: true + Name: Car_1 + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Global Parematers + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: car_1_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 6.895581245422363 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.9842443466186523 + Y: -0.5425673127174377 + Z: 0.985109806060791 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.140000104904175 + Saved: ~ +Window Geometry: + Chase Camera: + collapsed: false + Displays: + collapsed: false + Height: 960 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/rviz/car_2.rviz b/rviz/car_2.rviz new file mode 100644 index 0000000..e2bde9c --- /dev/null +++ b/rviz/car_2.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Car_21 + - /Car_21/Odometry1/Shape1 + - /Global Parematers1 + Splitter Ratio: 0.6294117569923401 + Tree Height: 161 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /car_2/camera/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Chase Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.02500000037252903 + Style: Flat Squares + Topic: /car_2/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Base Footprint + Topic: /car_2/base/footprint + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 239; 41; 41 + Head Length: 0.25 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /car_2/base/odom + Unreliable: false + Value: true + Enabled: true + Name: Car_2 + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Global Parematers + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: car_1_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10.540091514587402 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.8401058912277222 + Y: -4.1259942054748535 + Z: -1.7462449073791504 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7653980255126953 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.445007801055908 + Saved: ~ +Window Geometry: + Chase Camera: + collapsed: false + Displays: + collapsed: false + Height: 960 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/rviz/car_3.rviz b/rviz/car_3.rviz new file mode 100644 index 0000000..b5af976 --- /dev/null +++ b/rviz/car_3.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Car_31 + - /Car_31/Odometry1/Shape1 + - /Global Parematers1 + Splitter Ratio: 0.6294117569923401 + Tree Height: 161 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /car_3/camera/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Chase Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.02500000037252903 + Style: Flat Squares + Topic: /car_3/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Base Footprint + Topic: /car_3/base/footprint + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 239; 41; 41 + Head Length: 0.25 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /car_3/base/odom + Unreliable: false + Value: true + Enabled: true + Name: Car_3 + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Global Parematers + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: car_1_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 7.702158451080322 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.1928098499774933 + Y: -3.39508056640625 + Z: -0.7300854325294495 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7653980255126953 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.445007801055908 + Saved: ~ +Window Geometry: + Chase Camera: + collapsed: false + Displays: + collapsed: false + Height: 960 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/rviz/car_4.rviz b/rviz/car_4.rviz new file mode 100644 index 0000000..2e5a06e --- /dev/null +++ b/rviz/car_4.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Car_41 + - /Car_41/Odometry1/Shape1 + - /Global Parematers1 + Splitter Ratio: 0.6294117569923401 + Tree Height: 161 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /car_4/camera/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Chase Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.02500000037252903 + Style: Flat Squares + Topic: /car_4/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Base Footprint + Topic: /car_4/base/footprint + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 239; 41; 41 + Head Length: 0.25 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /car_4/base/odom + Unreliable: false + Value: true + Enabled: true + Name: Car_4 + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Global Parematers + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: car_1_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 7.702158451080322 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.43315038084983826 + Y: -2.6755268573760986 + Z: 0.26243171095848083 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7653980255126953 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.445007801055908 + Saved: ~ +Window Geometry: + Chase Camera: + collapsed: false + Displays: + collapsed: false + Height: 960 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/rviz/car_5.rviz b/rviz/car_5.rviz new file mode 100644 index 0000000..8a764e9 --- /dev/null +++ b/rviz/car_5.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Car_51 + - /Car_51/Odometry1/Shape1 + - /Global Parematers1 + Splitter Ratio: 0.6294117569923401 + Tree Height: 161 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /car_5/camera/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Chase Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.02500000037252903 + Style: Flat Squares + Topic: /car_5/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Base Footprint + Topic: /car_5/base/footprint + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 239; 41; 41 + Head Length: 0.25 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /car_5/base/odom + Unreliable: false + Value: true + Enabled: true + Name: Car_5 + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Global Parematers + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: car_1_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 5.248805046081543 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -1.07430100440979 + Y: -1.9585487842559814 + Z: 1.2635314464569092 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7653980255126953 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.445007801055908 + Saved: ~ +Window Geometry: + Chase Camera: + collapsed: false + Displays: + collapsed: false + Height: 960 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/rviz/car_6.rviz b/rviz/car_6.rviz new file mode 100644 index 0000000..287faeb --- /dev/null +++ b/rviz/car_6.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Car_61 + - /Car_61/Odometry1/Shape1 + - /Global Parematers1 + Splitter Ratio: 0.6294117569923401 + Tree Height: 161 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /car_6/camera/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Chase Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.02500000037252903 + Style: Flat Squares + Topic: /car_6/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Base Footprint + Topic: /car_6/base/footprint + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 239; 41; 41 + Head Length: 0.25 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /car_6/base/odom + Unreliable: false + Value: true + Enabled: true + Name: Car_6 + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Global Parematers + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: car_1_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 3.1023569107055664 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -1.7044751644134521 + Y: -1.2328484058380127 + Z: 2.263737678527832 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7653980255126953 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.445007801055908 + Saved: ~ +Window Geometry: + Chase Camera: + collapsed: false + Displays: + collapsed: false + Height: 960 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/rviz/car_7.rviz b/rviz/car_7.rviz new file mode 100644 index 0000000..2219381 --- /dev/null +++ b/rviz/car_7.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Car_71 + - /Car_71/Odometry1/Shape1 + - /Global Parematers1 + Splitter Ratio: 0.6294117569923401 + Tree Height: 161 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /car_7/camera/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Chase Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.02500000037252903 + Style: Flat Squares + Topic: /car_7/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Base Footprint + Topic: /car_7/base/footprint + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 239; 41; 41 + Head Length: 0.25 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /car_7/base/odom + Unreliable: false + Value: true + Enabled: true + Name: Car_7 + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Global Parematers + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: car_1_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.1141695976257324 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -2.343644857406616 + Y: -0.5026320815086365 + Z: 3.273698568344116 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7653980255126953 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.445007801055908 + Saved: ~ +Window Geometry: + Chase Camera: + collapsed: false + Displays: + collapsed: false + Height: 960 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/rviz/car_8.rviz b/rviz/car_8.rviz new file mode 100644 index 0000000..7da398c --- /dev/null +++ b/rviz/car_8.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Car_81 + - /Car_81/Odometry1/Shape1 + - /Global Parematers1 + Splitter Ratio: 0.6294117569923401 + Tree Height: 161 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /car_8/camera/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Chase Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.02500000037252903 + Style: Flat Squares + Topic: /car_8/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Base Footprint + Topic: /car_8/base/footprint + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 239; 41; 41 + Head Length: 0.25 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /car_8/base/odom + Unreliable: false + Value: true + Enabled: true + Name: Car_8 + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Global Parematers + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: car_1_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.539088726043701 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -2.936657190322876 + Y: 0.20426806807518005 + Z: 4.233487606048584 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7653980255126953 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.445007801055908 + Saved: ~ +Window Geometry: + Chase Camera: + collapsed: false + Displays: + collapsed: false + Height: 960 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/scripts/command_multiplexer.py b/scripts/command_multiplexer.py new file mode 100755 index 0000000..b3fcac9 --- /dev/null +++ b/scripts/command_multiplexer.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python + +import rospy +import sys + +from sensor_msgs.msg import Joy +from ackermann_msgs.msg import AckermannDrive + +global current_command_topic +global offboard_command + +car_name = str(sys.argv[1]) +listen_offboard = str(sys.argv[2]) +joy_angle_axis = 2 +joy_angle_scaler = 100.0 +joy_speed_axis = 1 +joy_speed_scaler = 100.0 +ctl_offboard_button = 7 +ctl_teleop_button = 6 +command_topic = ['offboard/command', + 'teleop/command'] +log_message = 'control priority assigned to - {}' +control_priority = ['SIMULATOR_OFFBOARD', + 'REMOTE_KEYBOARD'] +current_command_topic = 'teleop/command' +message_display = [False, False] +multiplexer_pub = rospy.Publisher('/{}/multiplexer/command'.format(car_name), AckermannDrive, queue_size = 1) +offboard_command = AckermannDrive() + +rospy.set_param('/{}/command_priority'.format(car_name), control_priority[1]) +rospy.set_param('/{}/suspend_control'.format(car_name), 'False') + +def offboard_callback(data): + global offboard_command + offboard_command.steering_angle = data.steering_angle + offboard_command.speed = data.speed + +def keyboard_command_callback(data): + global current_command_topic + global offboard_command + passthrough_command = AckermannDrive() + # listen to control transfer commands + if rospy.get_param('/{}/command_priority'.format(car_name)) == control_priority[0]: + if not message_display[0]: + rospy.loginfo(log_message.format(control_priority[0])) + message_display[0] = True + message_display[1] = False + if current_command_topic != command_topic[0]: + current_command_topic = command_topic[0] + if rospy.get_param('/{}/command_priority'.format(car_name)) == control_priority[1]: + if not message_display[1]: + rospy.loginfo(log_message.format(control_priority[1])) + message_display[0] = False + message_display[1] = True + if current_command_topic != command_topic[1]: + current_command_topic = command_topic[1] + if current_command_topic == command_topic[1]: + # identify and scale raw command data + passthrough_command = data + elif current_command_topic == command_topic[0] and listen_offboard == 'true': + passthrough_command = offboard_command + if rospy.get_param('/{}/suspend_control'.format(car_name)) in ['True', 'true', '1', '1.0']: + passthrough_command.steering_angle = 0.0 + passthrough_command.speed = 0.0 + multiplexer_pub.publish(passthrough_command) + else: + multiplexer_pub.publish(passthrough_command) + +if __name__ == '__main__': + try: + rospy.init_node('command_multiplexer', anonymous = True) + if listen_offboard == 'true': + rospy.Subscriber('/{}/offboard/command'.format(car_name), AckermannDrive, offboard_callback) + rospy.Subscriber('/{}/teleop/command'.format(car_name), AckermannDrive, keyboard_command_callback) + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/scripts/keyboard_teleop.py b/scripts/keyboard_teleop.py new file mode 100755 index 0000000..6402d6e --- /dev/null +++ b/scripts/keyboard_teleop.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python + +import rospy +import sys +import select +import termios +import tty + +from ackermann_msgs.msg import AckermannDrive + +keyBindings = {'w':(1.0, 0.0), # move forward + 'd':(1.0, -1.0), # move foward and right + 'a':(1.0 , 1.0), # move forward and left + 's':(-1.0, 0.0), # move reverse + 'q':(0.0, 0.0)} # all stop + +speed_limit = 0.250 +angle_limit = 0.325 + +def getKey(): + tty.setraw(sys.stdin.fileno()) + select.select([sys.stdin], [], [], 0) + key = sys.stdin.read(1) + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + return key + +def vels(speed, turn): + return 'currently:\tspeed {}\tturn {}'.format(speed, turn) + +if __name__== '__main__': + settings = termios.tcgetattr(sys.stdin) + command_pub = rospy.Publisher('/{}/teleop/command'.format(str(sys.argv[1])), AckermannDrive, queue_size = 1) + rospy.init_node('keyboard_teleop', anonymous = True) + + speed = 0.0 + angle = 0.0 + status = 0.0 + + try: + while True: + key = getKey() + if key in keyBindings.keys(): + speed = keyBindings[key][0] + angle = keyBindings[key][1] + else: + speed = 0.0 + angle = 0.0 + if (key == '\x03'): + break + command = AckermannDrive(); + command.speed = speed * speed_limit + command.steering_angle = angle * angle_limit + command_pub.publish(command) + + except: + print('raise exception: key binding error') + + finally: + command = AckermannDrive(); + command.speed = speed * speed_limit + command.steering_angle = angle * angle_limit + command_pub.publish(command) + + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) diff --git a/urdf/macros.xacro b/urdf/macros.xacro index 2916494..ac51baa 100644 --- a/urdf/macros.xacro +++ b/urdf/macros.xacro @@ -54,7 +54,7 @@ - + @@ -62,42 +62,42 @@ - + - + - + - + - + - + @@ -331,7 +331,7 @@ - + diff --git a/urdf/xacros/macros.xacro.normal b/urdf/xacros/macros.xacro.normal index 729f5c7..da6e372 100644 --- a/urdf/xacros/macros.xacro.normal +++ b/urdf/xacros/macros.xacro.normal @@ -54,7 +54,7 @@ - + @@ -62,42 +62,42 @@ - + - + - + - + - + - + @@ -331,7 +331,7 @@ - + diff --git a/world/race_track_obstacles.world b/world/race_track_obstacles.world new file mode 100644 index 0000000..8d750a3 --- /dev/null +++ b/world/race_track_obstacles.world @@ -0,0 +1,1458 @@ + + + + 1 + 0 0 100 0 -0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.5 -1 + + + 1 + + + + + 0 0 1 + 100 100 + + + + + + 100 + 50 + + + + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 1 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 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