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Qorvo dw1000 plugin and holder for x500 #2

Merged
merged 7 commits into from
Nov 9, 2023
Merged

Qorvo dw1000 plugin and holder for x500 #2

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58a125c
Added support for DW1000 UWB transceiver
vitpetrik Oct 4, 2023
dec957f
Moved *stl file to correct place
vitpetrik Oct 4, 2023
9dd7e36
Merge branch 'ctu-mrs:master' into Qorvo-dw1000-plugin-and-holder-for…
vitpetrik Oct 20, 2023
c9fd921
Added support for DW1000 UWB transceiver
vitpetrik Oct 4, 2023
181a56c
Moved *stl file to correct place
vitpetrik Oct 4, 2023
bdf82db
Merge branch 'Qorvo-dw1000-plugin-and-holder-for-x500' of https://git…
vitpetrik Oct 25, 2023
63cb676
Merge branch 'master' into Qorvo-dw1000-plugin-and-holder-for-x500
klaxalk Nov 9, 2023
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2 changes: 2 additions & 0 deletions ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,9 @@ enable_dual_uv_cameras: [False, 'Add right and left UV cameras on the vehicle',
enable_back_uv_camera: [False, 'Add back UV camera on the vehicle', [f450, x500]]
uvcam_calib_file: [None, 'Specify UV camera calibration different than default one', [f450, f550, t650, x500]]
uvcam_occlusions: [False, 'Enable occlusions for UVDAR simulation (NOTE: THIS REQUIRES A BEEFY COMPUTER)', [f450, f550, t650, x500]]
enable_qorvo_dw1000: [False, 'Add Qorvo DW1000 UWB transceiver', [x500]]
pos_file: [None, 'Load positions and ids from .csv file with format: [id, x, y, z, heading] or .yaml file with format: [uav_name: \n id: (int) \n x: (float) \n y: (float) \n z: (float) \n heading: (float)]', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec, m690]]
uwb_id: [0, 'Set id for uwb ranging', [x500]]
pos: [None, 'Specify spawn position of the first vehicle in format [x, y, z, heading]. Additional vehicles will spawn in line with 2m x-offset', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec]]
enable_vio: [False, 'Add a forward-looking fisheye camera and a high frequency IMU', [f330, f450]]
enable_vio_down: [False, 'Add a forward-looking fisheye camera and a high frequency IMU', [f330, f450]]
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Binary file added ...o_simulation/models/mrs_robots_description/meshes/x500v2/qorvo_dw1000_mount.stl
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35 changes: 35 additions & 0 deletions .../mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja
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Original file line number Diff line number Diff line change
Expand Up @@ -1434,6 +1434,41 @@ limitations under the License.
{%- endmacro -%}
<!--}-->

<!-- Macro to add a UWB Range{-->
{%- macro uwb_range_macro(namespace, parent_link, uwb_id, uav_name, x, y, z, roll, pitch, yaw) -%}
<link name="uwb_range_link">
<pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
{{ zero_inertial_macro() }}
<sensor name="uwb_range_sensor" type="wireless_transmitter">
<update_rate>10</update_rate>
<always_on>1</always_on>
<plugin name="uwb_range_plugin" filename="libuwb_range.so">
<uwb_id>{{uwb_id}}</uwb_id>
<publish_topic>/{{ uav_name }}/uwb_range/range</publish_topic>
<frame_name>{{ uav_name }}/uwb</frame_name>
<sensitivity>-150</sensitivity>
<stddev>0.1</stddev>
</plugin>
<transceiver>
<frequency>6489.6</frequency>
<min_frequency>6240.0</min_frequency>
<max_frequency>6739.2</max_frequency>
<power>14.5</power>
<gain>2.5</gain>
</transceiver>
</sensor>
</link>

<joint name="uwb_range_joint" type="fixed">
<parent>{{ parent_link }}</parent>
<child>uwb_range_link</child>
<disableFixedJointLumping>true</disableFixedJointLumping>
<preserveFixedJoint>true</preserveFixedJoint>
</joint>
{%- endmacro -%}
<!--}-->


<!-- ========================== LIDAR sensors ========================= -->

<!-- Macro to add a Scanse Sweeper{-->
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38 changes: 38 additions & 0 deletions ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/x500.sdf.jinja
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@
{%- set realsense_mount_mesh_file = "model://mrs_robots_description/meshes/x500v2/realsense_mount_mesh_file.stl" -%}
{%- set bluefox_mount_mesh_file = "model://mrs_robots_description/meshes/x500v2/bluefox_mount_mesh_file.stl" -%}
{%- set uvdar_mount_mesh = "model://mrs_robots_description/meshes/dji/f450/dji_f450_uvdar_mount.dae" -%}
{%- set qorvo_dw1000_mount_file = "model://mrs_robots_description/meshes/x500v2/qorvo_dw1000_mount.stl" -%}
{# <!--}--> #}

{# Scales {--> #}
Expand Down Expand Up @@ -542,6 +543,24 @@
<!--}-->
{% endif %}


{% if enable_qorvo_dw1000 %}
<!-- Qorvo DW1000 mount {-->
{{components.visual_mesh_macro(
name = "qorvo_dw1000_mount",
mesh_file = qorvo_dw1000_mount_file,
mesh_scale = mesh_scale_milimeters,
color = "DarkGrey",
x = 0.0,
y = -0.01,
z = -0.078,
roll = 0,
pitch = 0,
yaw = 0)
}}
<!--}-->
{% endif %}

<!--}-->

</link>
Expand Down Expand Up @@ -1102,5 +1121,24 @@
{% endif %}
{# <!--}--> #}

{# Qorvo UWB {--> #}
{% if enable_qorvo_dw1000 %}
<!-- Qorvo DW1000 {-->
{{ components.uwb_range_macro(
parent_link = root,
uwb_id = uwb_id,
uav_name = namespace,
x = 0.0,
y = 0.08,
z = -0.10,
roll = 0.0,
pitch = 0.0,
yaw = 0.0)
}}
<!--}-->
{% endif %}
{# <!--}--> #}


</model>
</sdf>
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