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Transform tree (#678)
* transform tree urdf * gripper, configurable dynamic shoulder, drone prefix * moby yaml + additional orca topics * urdf for orca + moby * made launch files drone agnostic * use drone, namespace helper in description launch
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‎auv_setup/CMakeLists.txt‎

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install(DIRECTORY
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config
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launch
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description
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DESTINATION share/${PROJECT_NAME}/
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)
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‎auv_setup/README.md‎

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@@ -13,44 +13,5 @@ The config folder contains physical parameters related to the AUV and the enviro
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This package contains a launchfile for each specific AUV. Additionally the topside.launch file is to
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be used on the topside computer that the joystick is connected to, for ROV operations.
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For the AUV launchfiles, the following parameters can be used:
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| Parameter | Options | Default |
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| ----------|-----------------|-----------|
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| type | real, simulator | simulator |
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#### ROV mode topside launch
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We make no distinction for launching in AUV or ROV mode for the system running on the physical drone.
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You will however need to run the pc.launch file on the topside computer in order to operate the drone
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with a joystick. The topside computer needs to be connected to the same network as the drone. In our configuration, the drone
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is the master node, while the topside computer is the slave. For the slave to know how to connect to the master node,
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you will need to configure the topside computer:
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1. Find the IP of the master. When running the Xavier on the drone, this should be `10.42.0.1`.
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2. On the topside computer, execute
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```
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echo "export ROS_MASTER_URI=http://X.X.X.X:11311" >> ~/.bashrc
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```
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where X.X.X.X is the IP of the Xavier.
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3. Source the newly edited file.
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```
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source ~/.bashrc
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```
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### Sensors
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Currently, the AUV launchfiles also contain the sensor driver launches, including the remapping of them:
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#### Manta sensor mapping
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| Sensor | x | y | z | u | v | w |
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| ---------|-------|--------|--------|---------|---------|---|
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| IMU | 0 | 0 | 0 | 3.12159 | 0 | 0 |
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| DVL |-0.035 |-0.017 |-0.211 | 3.14159 | 3.14159 | 0 |
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| Pressure | 0 | 0 | 0 | 0 | 0 | 0 |
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#### Gladlaks sensor mapping
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| Sensor | x | y | z | u | v | w |
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| ---------|-------|--------|--------|---------|---------|------|
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| IMU | 0 | 0 | 0 | TODO | TODO | TODO |
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| DVL |TODO |TODO |TODO | TODO | TODO | 0 |
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| Pressure | 0 | 0 | 0 | 0 | 0 | 0 |
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### Description
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The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

‎auv_setup/config/robots/moby.yaml‎

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# This file defines parameters specific to Moby.
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# When looking at the AUV from above, the thruster placement is:
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#
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# front
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# |======|
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# |=7↗=| |=0↖=|
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# | | | |
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# | 6• | | 1• |
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# | | | |
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# | | | |
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# | 5• | | 2• |
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# | | | |
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# |=4↘=|==||==|=3↙=|
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#
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/**:
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ros__parameters:
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physical:
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center_of_mass: [0.0, 0.0, 0.0] # CO is aligned with CM Position (x,y,z) in meters (M)
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mass_matrix: [53.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 53.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 53.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 11.0628, 1.086, -3.17502, 0.0, 0.0, 0.0, 1.086, 23.1128, 0.1025, 0.0, 0.0, 0.0, -3.17502, 0.1025, 26.23998]
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# 6x6 mass_inertia_matrix
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propulsion:
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dofs:
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num: 6
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dimensions:
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num: 3
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thrusters:
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num: 8
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min: -100
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max: 100
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thruster_force_direction: [ # Direction of forces X,Y,Z, same logic as thruster_position thruster0 produces thrust in (X0,Y0,Z0) and ||(X0,Y0,Z0)|| = 1
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0.70711,
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0.00000,
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0.00000,
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-0.70711,
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-0.70711,
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0.00000,
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0.00000,
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0.70711, # Surge
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-0.70711,
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0.00000,
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0.00000,
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-0.70711,
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0.70711,
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0.00000,
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0.00000,
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0.70711, # Sway
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0.00000,
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1.00000,
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1.00000,
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0.00000,
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0.00000,
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1.00000,
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1.00000,
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0.00000, # Heave
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]
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thruster_position: [ # Position (x0,x1 ... x7,y1,y2, ...,y7,z1,z2, ... ,z7) in meters (M). i.e thruster0 has position (x0,y0,z0)
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0.413892,
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0.140095,
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-0.163904,
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-0.413892,
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-0.413892,
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-0.163904,
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0.140095,
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0.413892, # x-positions of the thrusters
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-0.313022,
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-0.313022,
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-0.313022,
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-0.313022,
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0.313022,
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0.313022,
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0.313022,
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0.313022, # y-positions of the thrusters
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0.021736,
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0.021736,
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0.021736,
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0.021736,
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0.021736,
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0.021736,
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0.021736,
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0.021736, # z-positions of the thrusters
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]
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rate_of_change:
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max: 1 # Maximum rate of change in newton per second for a thruster
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thrust_update_rate: 100.0 # [Hz]
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watchdog_timeout: 1.0 # [s]
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topics:
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wrench_input: "wrench_input"
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thruster_forces: "thruster_forces"
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pwm_output: "pwm"
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current: "power_sense_module/current"
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voltage: "power_sense_module/voltage"
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pressure: "pressure"
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temperature: "temperature"
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joy: "joy"
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pose: "pose"
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odom: "odom"
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twist: "twist"
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operation_mode: "operation_mode"
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killswitch: "killswitch"
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reference_pose: "reference_pose"
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guidance:
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los: "guidance/los"
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dp: "guidance/dp"
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waypoint: "waypoint"
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dvl_twist: "dvl/twist"
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dvl_altitude: "dvl/altitude"
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imu: "mru/imu"
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sonar_info: "fls/sonar_info"
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action_servers:
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reference_filter: "reference_filter"
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los: "los_guidance"
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services:
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set_operation_mode: "set_operation_mode"
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set_killswitch: "set_killswitch"
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toggle_killswitch: "toggle_killswitch"
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get_operation_mode: "get_operation_mode"

‎auv_setup/config/robots/orca.yaml‎

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joy: "joy"
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pose: "pose"
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twist: "twist"
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odom: "odom"
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operation_mode: "operation_mode"
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killswitch: "killswitch"
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reference_pose: "reference_pose"
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landmarks: "landmarks"
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odom: "odom"
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waypoint: "waypoint"
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waypoint_list: "waypoint_list"
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guidance:
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los: "guidance/los"
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dp: "guidance/dp"

‎auv_setup/description/flir_blackfly_s.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="flir_blackfly_s">
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<!--
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Minimal helper xacro that only defines the link frames and fixed joints
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for the FLIR Blackfly S camera. This intentionally omits visuals,
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collisions, inertial and Gazebo sensor/plugin blocks so it can be
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included in robot descriptions when only TF frames are required.
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The caller is responsible for declaring ${frame} as a <link> and
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connecting it to the parent with a <joint> (+ the desired origin).
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This macro only adds the sensor sub-frames below ${frame}.
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Usage:
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<xacro:include filename="flir_blackfly_s.urdf.xacro"/>
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<link name="downwards_camera_link"/>
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<joint name="base_to_downwards_camera" type="fixed">
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<parent link="base_link"/>
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<child link="downwards_camera_link"/>
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<origin xyz="0.28 -0.08 0.09" rpy="0 0 1.5708"/>
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</joint>
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<xacro:flir_blackfly_s frame="downwards_camera_link" name="flir_blackfly"/>
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-->
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<xacro:macro name="flir_blackfly_s" params="frame base name:=camera lens_h:=0.04">
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<!-- 'base' must be provided by the caller and should be the desired
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prefix for generated sub-frame names (e.g. 'downwards_camera'). -->
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<!-- Lens and optical links (minimal) -->
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<link name="${base}_lens"/>
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<link name="${base}_optical"/>
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<!-- Fixed joint from body to lens (keeps original relative origin) -->
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<joint name="${base}_lens_joint" type="fixed">
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<!-- origin taken from flir_blackfly_s xacro: 0.02685 0 0.01425 -->
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<origin xyz="0.02685 0 0.01425" rpy="0 0 0"/>
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<parent link="${frame}"/>
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<child link="${base}_lens"/>
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</joint>
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<!-- Fixed joint from lens to optical frame. Lens length is parameterized. -->
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<joint name="${base}_optical_joint" type="fixed">
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<origin xyz="${lens_h} 0 0" rpy="-1.570796 0 -1.570796"/>
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<parent link="${base}_lens"/>
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<child link="${base}_optical"/>
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</joint>
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</xacro:macro>
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</robot>

‎auv_setup/description/gripper.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="gripper">
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<!--
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Gripper macro.
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The caller declares a static mount link (e.g. 'gripper_link') and
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connects it to the robot. This macro creates all gripper sub-frames
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below that mount link.
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Parameters:
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frame - caller-declared mount link name (e.g. 'gripper_link')
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static_shoulder - if true the shoulder joint is fixed; if false it is
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a revolute joint that can pitch (default: true)
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Usage:
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<link name="gripper_link"/>
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<joint name="base_to_gripper" type="fixed">
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<parent link="base_link"/>
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<child link="gripper_link"/>
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<origin xyz="0.26 0.095 0.08" rpy="0 0 0"/>
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</joint>
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<xacro:gripper frame="gripper_link" static_shoulder:=true/>
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-->
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<xacro:macro name="gripper"
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params="frame static_shoulder:=true shoulder_length:=0.1 wrist_length:=0.1 grip_max_extension:=0.05">
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<!-- Shoulder link (owned by the gripper macro, not the caller) -->
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<link name="gripper_shoulder_link">
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<visual>
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<geometry>
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<box size="${shoulder_length} 0.05 0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="grey">
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<color rgba="0.6 0.6 0.6 1"/>
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</material>
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</visual>
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</link>
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<!-- Shoulder joint: fixed or revolute depending on static_shoulder -->
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<xacro:if value="${static_shoulder}">
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<joint name="gripper_shoulder_joint" type="fixed">
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<parent link="${frame}"/>
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<child link="gripper_shoulder_link"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</joint>
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</xacro:if>
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<xacro:unless value="${static_shoulder}">
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<joint name="gripper_shoulder_joint" type="revolute">
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<parent link="${frame}"/>
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<child link="gripper_shoulder_link"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="-1.57" upper="1.57" effort="10" velocity="1.0"/>
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</joint>
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</xacro:unless>
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<!-- Wrist link -->
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<link name="gripper_wrist_link">
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<visual>
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<geometry>
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<cylinder radius="0.02" length="${wrist_length}"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="silver">
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<color rgba="0.8 0.8 0.8 1"/>
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</material>
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</visual>
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</link>
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<!-- Grip link -->
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<link name="gripper_grip_link">
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<visual>
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<geometry>
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<box size="0.05 0.01 0.03"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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</link>
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<!-- Wrist joint -->
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<joint name="gripper_wrist_joint" type="revolute">
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<parent link="gripper_shoulder_link"/>
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<child link="gripper_wrist_link"/>
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<origin xyz="${shoulder_length} 0 0" rpy="0 0 0"/>
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<axis xyz="1 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="10" velocity="1.0"/>
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</joint>
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<!-- Grip joint -->
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<joint name="gripper_grip_joint" type="prismatic">
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<parent link="gripper_wrist_link"/>
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<child link="gripper_grip_link"/>
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<origin xyz="${wrist_length} 0 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="0.0" upper="${grip_max_extension}" effort="10" velocity="0.1"/>
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</joint>
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</xacro:macro>
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</robot>

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