refactor(world): configuration using xacro with procedural features
This commit is contained in:
parent
51f47ed776
commit
31535e4b10
10 changed files with 332 additions and 225 deletions
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@ -1,225 +0,0 @@
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<?xml version="1.0"?>
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<sdf version="1.9">
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<world name="rbs_freazer_world">
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<scene>
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<ambient>1.0 1.0 1.0</ambient>
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<grid>false</grid>
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</scene>
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<physics name='1ms' type='ignored'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<dart>
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<!-- <collision_detector>bullet</collision_detector> -->
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<!-- <solver> -->
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<!-- <solver_type>pgs</solver_type> -->
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<!-- </solver> -->
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</dart>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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<engine>
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<filename>gz-physics-dartsim-plugin</filename>
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</engine>
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin filename="gz-sim-contact-system"
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name="gz::sim::systems::Contact">
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>false</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<include>
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<name>shildik_0</name>
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<pose>-0.403959 0.250 0.02 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_1</name>
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<pose>-0.447918 0.250 0.02 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_2</name>
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<pose>-0.491997 0.250 0.02 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_3</name>
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<pose>-0.536033 0.250 0.02 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_4</name>
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<pose>-0.491997 0.250 0.03 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<static>true</static>
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<pose>0.350 -0.170 0 0 0 3.14159</pose>
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<uri>model://laser</uri>
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</include>
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<include>
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<static>true</static>
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<pose>-0.050 0.250 0.0 0.0 0.0 1.57</pose>
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<uri>model://bunker</uri>
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</include>
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<include>
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<static>true</static>
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<pose>-0.470 0.250 0 0 0 1.57</pose>
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<uri>model://bunker_4_slots</uri>
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</include>
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<include>
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<static>true</static>
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<pose>0.350 -0.170 0.01 0 0 1.57</pose>
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<uri>model://conductor</uri>
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</include>
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<model name="rgbd_camera">
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<pose>0 -0.93 0.42 0 0.4 1.81</pose>
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<static>1</static>
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<link name="rgbd_camera">
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<!-- Visual -->
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<visual name="visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0 0 0 1</diffuse>
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<specular>0 0 0 1</specular>
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</material>
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</visual>
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<!-- Collision -->
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<collision name="collision">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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</collision>
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<!-- RGBD Sensor -->
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<sensor name="rgbd_camera" type="rgbd_camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>1920</width>
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<height>1080</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>3</far>
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</clip>
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<depth_camera>
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<output>depth</output>
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</depth_camera>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>/rgbd_camera/image</topic>
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<enable_metrics>true</enable_metrics>
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</sensor>
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</link>
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</model>
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<model name="table">
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<static>1</static>
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<link name='table_link'>
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<pose>0 0 -0.40000000000000002 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>10</mass>
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<inertia>
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<ixx>4.708333333333333</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>8.6666666666666661</iyy>
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<iyz>0</iyz>
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<izz>8.0416666666666661</izz>
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</inertia>
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</inertial>
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<collision name='table_link_collision'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>1.2 0.69999999999999996 0.80000000000000004</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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<bounce />
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<contact>
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<ode>
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<soft_cfm>0.00001</soft_cfm>
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<soft_erp>0.8</soft_erp>
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<kp>1e5</kp>
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<kd>1e3</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='table_link_visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>1.2 0.69999999999999996 0.80000000000000004</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.4 0.2 1</diffuse>
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<ambient>0.6 0.4 0.2 1</ambient>
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<specular>0.1 0.1 0.1 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<enable_wind>false</enable_wind>
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</link>
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</model>
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</world>
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</sdf>
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58
rbs_mill_assist/world/inc/camera.xacro
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58
rbs_mill_assist/world/inc/camera.xacro
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<?xml version="1.0"?>
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<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
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<xacro:macro name="rgbd_camera" params="name:=rgbd_camera *pose width:=1920 height:=1080">
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<model name="${name}">
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<xacro:insert_block name="pose" />
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<static>1</static>
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<link name="${name}_link">
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<visual name="visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0 0 0 1</diffuse>
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<specular>0 0 0 1</specular>
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</material>
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</visual>
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<collision name="collision">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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</collision>
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<sensor name="${name}_sensor" type="rgbd_camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>1920</width>
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<height>1080</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>3</far>
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</clip>
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<depth_camera>
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<output>depth</output>
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</depth_camera>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>/${name}/image</topic>
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<enable_metrics>true</enable_metrics>
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</sensor>
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</link>
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</model>
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</xacro:macro>
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</sdf>
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30
rbs_mill_assist/world/inc/from_places.xacro
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30
rbs_mill_assist/world/inc/from_places.xacro
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<?xml version="1.0"?>
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<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
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<xacro:include filename="$(find rbs_mill_assist)/world/inc/model_macro.xacro" />
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<xacro:macro name="from_places" params="models:=^">
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<xacro:if value="${models}">
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<xacro:property name="model" value="${models.pop(0)}" />
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<xacro:model model_name="${model['name']}" static="true">
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<pose>
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${model["pose"]["position"]["x"]}
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${model["pose"]["position"]["y"]}
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${model["pose"]["position"]["z"]}
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<xacro:if value="${'orientation' in model['pose']}">
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<xacro:property name="orientation" value="${model['pose']['orientation']}"/>
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<xacro:if value="${'r' in orientation and 'p' in orientation and 'y' in orientation}">
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${orientation['r']}
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${orientation['p']}
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${orientation['y']}
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</xacro:if>
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</xacro:if>
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<xacro:unless value="${'orientation' in model['pose']}">
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0 0 0
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</xacro:unless>
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</pose>
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</xacro:model>
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<xacro:from_places />
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</xacro:if>
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</xacro:macro>
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</sdf>
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44
rbs_mill_assist/world/inc/generate_shildiks.xacro
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44
rbs_mill_assist/world/inc/generate_shildiks.xacro
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<?xml version="1.0"?>
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<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
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<xacro:include filename="$(find rbs_mill_assist)/world/inc/model_macro.xacro" />
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<xacro:macro name="shildiks_to_bunker" params="count ref_frames index:=0 rpy:='0 0 0' z_offset:=0">
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<xacro:if value="${count > 0}">
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<xacro:if value="${index < len(ref_frames)}">
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<!-- Extract the slot by index -->
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<xacro:property name="slot" value="${ref_frames[index]}" />
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<xacro:model model_name="shildik" scene_name="shildik${count}">
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<xacro:if value="${slot['relative_to'] is not None}">
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<pose relative_to="${slot['relative_to']}">
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${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}
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</pose>
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</xacro:if>
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<xacro:unless value="${slot['relative_to'] is not None}">
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<pose>${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}</pose>
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</xacro:unless>
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</xacro:model>
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<!-- Recursive call for the next slot -->
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<xacro:shildiks_to_bunker
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count="${count - 1}"
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ref_frames="${ref_frames}"
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index="${index + 1}"
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rpy="${rpy}"
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z_offset="${z_offset}"
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/>
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</xacro:if>
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<!-- If slots are finished, increase z_offset and start over -->
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<xacro:unless value="${index < len(ref_frames)}">
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<xacro:property name="new_z_offset" value="${z_offset + 0.003249}" />
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<xacro:shildiks_to_bunker
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count="${count}"
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ref_frames="${ref_frames}"
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index="0"
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rpy="${rpy}"
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z_offset="${new_z_offset}"
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/>
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</xacro:unless>
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</xacro:if>
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</xacro:macro>
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</sdf>
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64
rbs_mill_assist/world/inc/ground.xacro
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64
rbs_mill_assist/world/inc/ground.xacro
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<?xml version="1.0"?>
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<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
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<xacro:macro name="table" params="">
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<model name="table">
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<static>1</static>
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<link name='table_link'>
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<pose>0 0 -0.40000000000000002 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>10</mass>
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<inertia>
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<ixx>4.708333333333333</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>8.6666666666666661</iyy>
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<iyz>0</iyz>
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<izz>8.0416666666666661</izz>
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</inertia>
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</inertial>
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<collision name='table_link_collision'>
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<density>1000</density>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>1.2 0.69999999999999996 0.80000000000000004</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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<bounce />
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<contact>
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<ode>
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<soft_cfm>0.00001</soft_cfm>
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<soft_erp>0.8</soft_erp>
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<kp>1e5</kp>
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<kd>1e3</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='table_link_visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>1.2 0.69999999999999996 0.80000000000000004</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.4 0.2 1</diffuse>
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<ambient>0.6 0.4 0.2 1</ambient>
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<specular>0.1 0.1 0.1 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<enable_wind>false</enable_wind>
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</link>
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</model>
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</xacro:macro>
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</sdf>
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18
rbs_mill_assist/world/inc/light_macro.xacro
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18
rbs_mill_assist/world/inc/light_macro.xacro
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<?xml version="1.0"?>
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<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
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<xacro:macro name="light">
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<light type="directional" name="sun">
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<cast_shadows>false</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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</xacro:macro>
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</sdf>
|
||||
16
rbs_mill_assist/world/inc/model_macro.xacro
Normal file
16
rbs_mill_assist/world/inc/model_macro.xacro
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<?xml version="1.0"?>
|
||||
<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
|
||||
<xacro:macro name="model" params="scene_name:='' model_name *pose static:=false">
|
||||
<xacro:if value="${scene_name==''}">
|
||||
<xacro:property name="scene_name" value="${model_name}"/>
|
||||
</xacro:if>
|
||||
<include>
|
||||
<xacro:if value="${scene_name!=''}">
|
||||
<name>${scene_name}</name>
|
||||
</xacro:if>
|
||||
<static>${static}</static>
|
||||
<xacro:insert_block name="pose"/>
|
||||
<uri>model://${model_name}</uri>
|
||||
</include>
|
||||
</xacro:macro>
|
||||
</sdf>
|
||||
28
rbs_mill_assist/world/inc/plugins_macro.xacro
Normal file
28
rbs_mill_assist/world/inc/plugins_macro.xacro
Normal file
|
|
@ -0,0 +1,28 @@
|
|||
<?xml version="1.0"?>
|
||||
<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
|
||||
<xacro:macro name="plugins" params="render_engine physics_engine">
|
||||
<plugin
|
||||
filename="gz-sim-physics-system"
|
||||
name="gz::sim::systems::Physics">
|
||||
<engine>
|
||||
<filename>${physics_engine}</filename>
|
||||
</engine>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-sensors-system"
|
||||
name="gz::sim::systems::Sensors">
|
||||
<render_engine>${render_engine}</render_engine>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-user-commands-system"
|
||||
name="gz::sim::systems::UserCommands">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-scene-broadcaster-system"
|
||||
name="gz::sim::systems::SceneBroadcaster">
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-contact-system"
|
||||
name="gz::sim::systems::Contact">
|
||||
</plugin>
|
||||
</xacro:macro>
|
||||
</sdf>
|
||||
6
rbs_mill_assist/world/world.xacro
Normal file
6
rbs_mill_assist/world/world.xacro
Normal file
|
|
@ -0,0 +1,6 @@
|
|||
<?xml version="1.0"?>
|
||||
<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
|
||||
<xacro:include filename="$(find rbs_mill_assist)/world/world_macro.xacro"/>
|
||||
|
||||
<xacro:world/>
|
||||
</sdf>
|
||||
68
rbs_mill_assist/world/world_macro.xacro
Normal file
68
rbs_mill_assist/world/world_macro.xacro
Normal file
|
|
@ -0,0 +1,68 @@
|
|||
<?xml version="1.0"?>
|
||||
<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
|
||||
|
||||
<xacro:include filename="$(find rbs_mill_assist)/world/inc/plugins_macro.xacro" />
|
||||
<xacro:include filename="$(find rbs_mill_assist)/world/inc/light_macro.xacro" />
|
||||
<xacro:include filename="$(find rbs_mill_assist)/world/inc/model_macro.xacro" />
|
||||
<xacro:include filename="$(find rbs_mill_assist)/world/inc/generate_shildiks.xacro" />
|
||||
<xacro:include filename="$(find rbs_mill_assist)/world/inc/camera.xacro" />
|
||||
<xacro:include filename="$(find rbs_mill_assist)/world/inc/ground.xacro" />
|
||||
<xacro:include filename="$(find rbs_mill_assist)/world/inc/from_places.xacro" />
|
||||
|
||||
<xacro:macro name="world" params="">
|
||||
<world name="rbs_freazer_world">
|
||||
<scene>
|
||||
<ambient>1.0 1.0 1.0</ambient>
|
||||
<grid>false</grid>
|
||||
</scene>
|
||||
<physics name='1ms' type='ignored'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
</physics>
|
||||
|
||||
<xacro:plugins render_engine="ogre2" physics_engine="gz-physics-dartsim-plugin" />
|
||||
<xacro:light />
|
||||
|
||||
|
||||
<xacro:property name="yaml_file" value="$(find rbs_mill_assist)/world/config/slots.yaml" />
|
||||
<xacro:property name="slots" value="${xacro.load_yaml(yaml_file)}" />
|
||||
|
||||
<xacro:shildiks_to_bunker
|
||||
count="5"
|
||||
ref_frames="${slots['ref_frames']}"
|
||||
rpy="0 0 0"
|
||||
z_offset="0.01"
|
||||
/>
|
||||
|
||||
<xacro:property name="places_file" value="$(find rbs_mill_assist)/world/config/places.yaml" />
|
||||
<xacro:property name="places" value="${xacro.load_yaml(places_file)}" />
|
||||
|
||||
<xacro:from_places models="${places['models']}"/>
|
||||
|
||||
|
||||
<!---->
|
||||
<!-- <xacro:model model_name="laser" static="true"> -->
|
||||
<!-- <pose>0.350 -0.170 0 0 0 3.14159</pose> -->
|
||||
<!-- </xacro:model> -->
|
||||
<!---->
|
||||
<!-- <xacro:model model_name="bunker" static="true"> -->
|
||||
<!-- <pose>-0.310 0.250 0.0 0.0 0.0 1.57</pose> -->
|
||||
<!-- </xacro:model> -->
|
||||
<!---->
|
||||
<!-- <xacro:model model_name="bunker_4_slots" static="true"> -->
|
||||
<!-- <pose>-0.150 0.250 0 0 0 1.57</pose> -->
|
||||
<!-- </xacro:model> -->
|
||||
<!---->
|
||||
<!-- <xacro:model model_name="conductor" static="true"> -->
|
||||
<!-- <pose>0.350 -0.170 0.01 0 0 1.57</pose> -->
|
||||
<!-- </xacro:model> -->
|
||||
|
||||
<xacro:rgbd_camera>
|
||||
<pose>0 -0.93 0.42 0 0.4 1.81</pose>
|
||||
</xacro:rgbd_camera>
|
||||
|
||||
<xacro:table />
|
||||
|
||||
</world>
|
||||
</xacro:macro>
|
||||
</sdf>
|
||||
Loading…
Add table
Add a link
Reference in a new issue