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Arm URDF, updated rover URDF, remove some unneeded packages (#530)
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* Add arm blend file

* In progress update

* Ooops

* Fix loading model

* Get the arm imported properly as a urdf. arm_rviz_display.launch works now

* start at zeros

* Get rid of image transport, this links old opencv which is bad for when we use new opencv. also if we ever transport image it is over custom stream anyways.

* Fix wheels

* Actually push files

* Show image properly

* fix rotations

* Fix camera links, don't use odom frame by default since we are going to rtk
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@qhdwight
qhdwight authored Oct 5, 2023
1 parent fe08488 commit e36317a
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Showing 67 changed files with 560 additions and 1,035 deletions.
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
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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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