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Multi-robot collaboration for pushing a box towards a goal #121

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7c38107
[DO NOT MERGE] Adds basic swarm controller node (#113)
hidmic Nov 8, 2019
acf89b8
Add changes for Ekuthon 2019 day 2
Nov 8, 2019
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3 changes: 1 addition & 2 deletions ca_description/urdf/common_properties.xacro
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Expand Up @@ -4,8 +4,7 @@
<xacro:macro name="dummy_inertia">
<inertial>
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Call inertial_cuboid instead of creating the inertial from scratch.

<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
</inertial>
</xacro:macro>

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2 changes: 1 addition & 1 deletion ca_description/urdf/create_2.xacro
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Expand Up @@ -17,5 +17,5 @@
</xacro:create_base>

<!-- Roomblock -->
<xacro:roomblock parent="base_link" visualize="$(arg visualize)"/>
<!-- <xacro:roomblock parent="base_link" visualize="$(arg visualize)"/> -->
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Check if roomblock affects how the robot moves the block. If so, check how we can mitigate this effect.

</robot>
7 changes: 6 additions & 1 deletion ca_description/urdf/create_base.xacro
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Expand Up @@ -52,7 +52,12 @@

<xacro:create_wheel prefix="left" y_offset="${wheel_separation / 2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
<xacro:create_wheel prefix="right" y_offset="${wheel_separation / -2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
<xacro:caster_wheel/>
<xacro:caster_wheel name="caster_front">
<origin xyz="0.13 0 0" rpy="0 ${pi/2} ${pi/2}" />
</xacro:caster_wheel>
<xacro:caster_wheel name="caster_back">
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Is this new caster necessary? Check mass distributions.

<origin xyz="-0.13 0 0" rpy="0 ${pi/2} ${pi/2}" />
</xacro:caster_wheel>

<!-- Simulation sensors -->
<xacro:sim_create_base/>
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17 changes: 4 additions & 13 deletions ca_description/urdf/create_caster_wheel.xacro
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@@ -1,43 +1,34 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="caster_wheel">
<xacro:macro name="caster_wheel" params="name *origin">
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Put these changes into a new PR.


<xacro:include filename="$(find ca_description)/urdf/common_properties.xacro"/>

<xacro:property name="link_name" value="caster_wheel_link"/>
<xacro:property name="link_name" value="${name}_wheel_link"/>
<xacro:property name="parent_link" value="base_link"/>

<xacro:property name="x" value="0.13"/>
<xacro:property name="y" value="0"/>
<xacro:property name="z" value="0"/>
<xacro:property name="R" value="0"/>
<xacro:property name="P" value="${pi/2}"/>
<xacro:property name="Y" value="${pi/2}"/>

<xacro:property name="radius" value="0.018"/>

<link name="${link_name}">
<xacro:inertial_sphere mass="0.05" diameter="${2*radius}"/>

<visual>
<origin xyz="0 0 0" rpy="${R} ${P} ${Y}" />
<geometry>
<sphere radius="${radius}" />
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="${R} ${P} ${Y}" />
<geometry>
<sphere radius="${radius}" />
</geometry>
</collision>
</link>

<!-- fixed because there's no transmission -->
<joint name="front_castor_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 0" />
<joint name="${name}_joint" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="${parent_link}" />
<child link="${link_name}" />
<axis xyz="0 1 0" />
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16 changes: 4 additions & 12 deletions ca_description/urdf/sensors/cliff_sensors.xacro
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Expand Up @@ -37,21 +37,13 @@
<child link="${name_front_right}_cliff_sensor_link" />
</joint>

<link name="${name_side_left}_cliff_sensor_link">
<xacro:dummy_inertia/>
</link>
<link name="${name_side_left}_cliff_sensor_link"/>
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Move this into a new PR.


<link name="${name_side_right}_cliff_sensor_link">
<xacro:dummy_inertia/>
</link>
<link name="${name_side_right}_cliff_sensor_link"/>

<link name="${name_front_left}_cliff_sensor_link">
<xacro:dummy_inertia/>
</link>
<link name="${name_front_left}_cliff_sensor_link"/>

<link name="${name_front_right}_cliff_sensor_link">
<xacro:dummy_inertia/>
</link>
<link name="${name_front_right}_cliff_sensor_link"/>

<xacro:sim_create_cliff_sensors visualize="${visualize}"/>

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4 changes: 1 addition & 3 deletions ca_description/urdf/sensors/wall_sensor.xacro
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Expand Up @@ -21,9 +21,7 @@
<child link="wall_sensor_link" />
</joint>

<link name="wall_sensor_link">
<xacro:dummy_inertia/>
</link>
<link name="wall_sensor_link"/>
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New PR removing inertias.


<xacro:sim_create_wall_sensor visualize="${visualize}"/>

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15 changes: 10 additions & 5 deletions ca_gazebo/launch/create_cooperative_two_rooms.launch
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@@ -1,11 +1,16 @@
<launch>
<param name="create1/amcl/initial_pose_x" value="$(optenv X1 -1)"/>
<param name="create1/amcl/initial_pose_y" value="$(optenv Y1 1)"/>
<param name="create1/amcl/initial_pose_x" value="$(optenv X1 -9.85)"/>
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We should revert this change --> create a new world file with only a box.

<param name="create1/amcl/initial_pose_y" value="$(optenv Y1 1.3)"/>
<param name="create1/amcl/initial_pose_a" value="$(optenv A1 0)"/>

<param name="create2/amcl/initial_pose_x" value="$(optenv X2 1)"/>
<param name="create2/amcl/initial_pose_y" value="$(optenv Y2 1)"/>
<param name="create2/amcl/initial_pose_a" value="$(optenv A2 3.1416)"/>
<param name="create2/amcl/initial_pose_x" value="$(optenv X2 -9.85)"/>
<param name="create2/amcl/initial_pose_y" value="$(optenv Y2 -0.1)"/>
<param name="create2/amcl/initial_pose_a" value="$(optenv A2 0)"/>

<node pkg="ca_swarm" type="swarm_controller_node" name="swarm_controller_node" output="screen">
<rosparam param="swarm_robots">[create1, create2]</rosparam>
<param name="body_frame" value="unit_box"/>
</node>

<include file="$(find ca_gazebo)/launch/create_empty_world.launch">
<arg name="env" value="two_rooms"/>
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2 changes: 1 addition & 1 deletion ca_gazebo/launch/create_empty_world.launch
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Expand Up @@ -32,7 +32,7 @@
</include>

<!-- map_server -->
<include if="$(eval str(arg('localization'))=='amcl')"
<include if="$(eval str(arg('localization')) != 'slam')"
file="$(find ca_move_base)/launch/map_server.launch">
<arg name="env" value="$(arg env)"/>
</include>
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2 changes: 1 addition & 1 deletion ca_gazebo/launch/spawn_multirobot.launch
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Expand Up @@ -22,7 +22,7 @@

<!-- RViz -->
<include if="$(arg rviz)" file="$(find ca_tools)/launch/rviz.launch">
<arg name="config_file" value="$(find ca_tools)/rviz/multi_robot.rviz"/>
<arg name="config_file" value="$(find ca_tools)/rviz/swarm.rviz"/>
</include>
</group>

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