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Arm URDF #530

Merged
merged 12 commits into from
Oct 5, 2023
Merged

Arm URDF #530

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82fa2e6
Add arm blend file
qhdwight Sep 2, 2023
751fa00
In progress update
qhdwight Sep 3, 2023
ac5046e
Ooops
qhdwight Sep 3, 2023
77daff9
Fix loading model
qhdwight Sep 3, 2023
f6f4ce5
Get the arm imported properly as a urdf. arm_rviz_display.launch work…
qhdwight Oct 2, 2023
666963b
start at zeros
qhdwight Oct 2, 2023
b7c5155
Get rid of image transport, this links old opencv which is bad for wh…
qhdwight Oct 2, 2023
8d6ab16
Fix wheels
qhdwight Oct 2, 2023
ddcc69d
Actually push files
qhdwight Oct 3, 2023
6bc1930
Show image properly
qhdwight Oct 3, 2023
78cd144
fix rotations
qhdwight Oct 3, 2023
5f49563
Fix camera links, don't use odom frame by default since we are going …
qhdwight Oct 3, 2023
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22 changes: 10 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ set(MROVER_CATKIN_PACKAGES

macro(rosify_cpp_target_macro target)
target_link_libraries(${target} PRIVATE ${catkin_LIBRARIES})
target_include_directories(${target} SYSTEM PRIVATE ${catkin_INCLUDE_DIRS} "src/util")
target_include_directories(${target} SYSTEM PRIVATE ${catkin_INCLUDE_DIRS} src/util)
add_dependencies(${target} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:${MROVER_CPP_COMPILE_OPTIONS}>)
Expand Down Expand Up @@ -195,12 +195,6 @@ else ()
tf2_geometry_msgs
tf2_ros
tf2
tf2_web_republisher
visualization_msgs
image_transport
cv_bridge
rosbridge_server
teleop_twist_joy
gazebo_ros
)

Expand All @@ -209,13 +203,14 @@ else ()
starter_project/autonomy/AutonomyStarterProject.cmake
)


# -=-=-=-=-
# Macros
# -=-=-=-=-

# These packages need to be found individually
macro(add_packages_macro)
find_package(OpenCV REQUIRED COMPONENTS core aruco)
find_package(OpenCV REQUIRED)
find_package(gazebo REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(ZED 2 QUIET)
Expand All @@ -234,9 +229,9 @@ else ()
# define an add and link macro
# Put items here to build
macro(add_and_link_macro)
add_cpp_nodelet_macro(tag_detector_nodelet "src/perception/tag_detector/*.cpp" "src/perception/tag_detector")
add_cpp_nodelet_macro(tag_detector_nodelet src/perception/tag_detector/*.cpp src/perception/tag_detector)
target_precompile_headers(tag_detector_nodelet PRIVATE src/perception/tag_detector/pch.hpp)
target_link_libraries(tag_detector_nodelet PRIVATE ${OpenCV_LIBRARIES} lie)
target_link_libraries(tag_detector_nodelet PRIVATE opencv_core opencv_objdetect opencv_aruco opencv_imgproc lie)

add_cpp_node_macro(brushed_motors "src/esw/brushed_motors/*.cpp")

Expand All @@ -258,8 +253,11 @@ else ()
target_precompile_headers(zed_nodelet PRIVATE src/perception/zed_wrapper/pch.hpp)
target_include_directories(zed_nodelet SYSTEM PRIVATE ${ZED_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
target_link_libraries(zed_nodelet PRIVATE ${ZED_LIBRARIES} ${OpenCV_LIBRARIES} ${SPECIAL_OS_LIBS} lie)
target_compile_definitions(zed_nodelet PRIVATE MROVER_IS_NODELET)
target_compile_options(zed_nodelet PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:--expt-extended-lambda>)
target_compile_definitions(zed_nodelet PRIVATE
MROVER_IS_NODELET # Generate code relevant to nodelet
ALLOW_BUILD_DEBUG # Ignore ZED warnings about Debug mode
__CUDA_INCLUDE_COMPILER_INTERNAL_HEADERS__ # Eigen includes some files it should not, ignore
)
endif ()
endmacro()
endif ()
Expand Down
2 changes: 1 addition & 1 deletion config/localization.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
world_frame: "map"
odom_frame: "odom"
rover_frame: "base_link"
use_odom_frame: true
use_odom_frame: false

gps_linearization:
reference_point_latitude: 42.293195
Expand Down
250 changes: 61 additions & 189 deletions config/rviz/arm.rviz
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,12 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 336
Tree Height: 871
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -51,184 +51,60 @@ Visualization Manager:
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: world
Reference Frame: base_link
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
aTob:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bToc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cTod:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chassisToa:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
dToe:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
eTof:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 3x
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: ""
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
a_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
b_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
d_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
aTob:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bToc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cTod:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chassisToa:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
dToe:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
eTof:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 0.5
Show Robot Collision: true
Show Robot Visual: false
TF Prefix: ""
Update Interval: 0
Value: true
Velocity_Scaling_Factor: 0.1
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: chassisToa
Frame Rate: 30
Fixed Frame: base_link
Frame Rate: 60
Name: root
Tools:
- Class: rviz/Interact
Expand All @@ -251,37 +127,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 103.44278717041016
Distance: 65.38457489013672
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -1.1320419311523438
Y: 0.6890945434570312
Z: -1.7296075820922852
X: 5.594668865203857
Y: 0.6798133850097656
Z: 3.844665288925171
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.13748864829540253
Pitch: 0.42248857021331787
Target Frame: <Fixed Frame>
Yaw: 2.7814881801605225
Yaw: 1.0014894008636475
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 948
Height: 1085
Hide Left Dock: false
Hide Right Dock: true
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 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
QMainWindow State: 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
Selection:
collapsed: false
Time:
Expand All @@ -290,6 +162,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Y: 27
Width: 1574
X: 177
Y: 89
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