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Issue 411 #428

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73db1ee
Remove
MihirGore23 Jul 30, 2024
5bfe9fb
Remove
MihirGore23 Jul 30, 2024
e9b4432
follow_road world for ros2 exercise (#416)
pariaspe Jul 3, 2024
39b3450
Adding sim time node (#417)
javizqh Jul 3, 2024
65b0dae
Add gui_interfaces
javizqh Jul 9, 2024
5ba2949
Proper indentation
javizqh Jul 10, 2024
9cb838f
Removing update_gui method
javizqh Jul 10, 2024
fce8125
Adding send_to_client method
javizqh Jul 10, 2024
5814066
Remove payload from init
javizqh Jul 10, 2024
b2f4091
Remove import and move threading start
javizqh Jul 10, 2024
03cfeeb
Add error message to gui_in_thread
javizqh Jul 10, 2024
0560bb3
Adding console interfaces
javizqh Jul 11, 2024
4dd0fdd
Removing the packages
javizqh Jul 15, 2024
caf51ae
Increased turtlebot2 camera maximun view range
Jun 29, 2023
3bd6fd8
Add Human Detection Launchers
MihirGore23 Aug 7, 2024
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4 changes: 2 additions & 2 deletions CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/urdf/sensors/camera.urdf.xacro
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Expand Up @@ -51,7 +51,7 @@
</image>
<clip>
<near>0.05</near>
<far>6</far>
<far>12</far>
</clip>
</camera>
<plugin name="depth_${name}_controller" filename="libgazebo_ros_camera.so">
Expand All @@ -60,7 +60,7 @@
<updateRate>0.0</updateRate>
<frame_name>${name}_depth_frame</frame_name>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>6.0</pointCloudCutoffMax>
<pointCloudCutoffMax>12.0</pointCloudCutoffMax>
<distortionK1>0</distortionK1>
<distortionK2>0</distortionK2>
<distortionK3>0</distortionK3>
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4 changes: 2 additions & 2 deletions CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/urdf/turtlebot2.urdf
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Expand Up @@ -743,7 +743,7 @@
</image>
<clip>
<near>0.05</near>
<far>6</far>
<far>12</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="depth_camera_controller">
Expand All @@ -752,7 +752,7 @@
<updateRate>0.0</updateRate>
<frame_name>camera_depth_frame</frame_name>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>6.0</pointCloudCutoffMax>
<pointCloudCutoffMax>12.0</pointCloudCutoffMax>
<distortionK1>0</distortionK1>
<distortionK2>0</distortionK2>
<distortionK3>0</distortionK3>
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7 changes: 7 additions & 0 deletions Launchers/human_detection_standard.py
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@@ -0,0 +1,7 @@
import launch
from launch import LaunchDescription

def generate_launch_description():
return LaunchDescription()


16 changes: 16 additions & 0 deletions Launchers/human_detection_webcam.launch.py
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@@ -0,0 +1,16 @@
import launch
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
return LaunchDescription([
Node(
package='v4l2_camera',
executable='v4l2_camera_node',
name='v4l2_camera_node',
parameters=[
{'video_device': '/dev/video0'}
],
),
])

9 changes: 9 additions & 0 deletions Launchers/world_follow_road.json
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@@ -0,0 +1,9 @@
{
"world": "follow_road",
"drones": [
{
"model": "iris_dual_cam",
"pose": [ 14.96, 0.0, 0.3, 1.57]
}
]
}
159 changes: 159 additions & 0 deletions Worlds/follow_road.world
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@@ -0,0 +1,159 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">

<gui fullscreen='1'>
<camera name='user_camera'>
<pose >25.0 -18.0 5.0 0.0 0.4 2.0</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>

<scene>
<grid>false</grid>
<shadows>0</shadows>
<ambient>0.4 0.4 0.4 1.0</ambient>
<background>0.7 0.7 0.7 1</background>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
</scene>

<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>

<!-- Grass -->
<include>
<uri>model://grass_plane</uri>
</include>

<!-- JdeRobot Logo -->
<include>
<name>logo</name>
<uri>model://logoJdeRobot</uri>
<pose>-6 -8 0 0 0 0</pose>
</include>

<include>
<uri>model://gas_station</uri>
<pose>1 6.43 0 0 0 0</pose>
</include>

<!-- <include>
<uri>model://house_4</uri>
<pose>-19 -12.57 0 0 0 1.55</pose>
</include>
-->

<include>
<uri>model://polaris_ranger_ev</uri>
<pose>4.48 -6 0.1 0 0 0</pose>
<static>true</static>
</include>

<!-- <include>
<uri>model://polaris_ranger_xp900</uri>
<pose>4.48 -12 0.1 0 0 0</pose>
<static>true</static>
</include>

<include>
<uri>model://person_standing</uri>
<pose>-3 2 0.1 0 0 0</pose>
<static>true</static>
</include> -->


<include>
<name>lampost1</name>
<uri>model://lamp_post</uri>
<pose>5 13 0 0 0 0</pose>
</include>

<include>
<name>lampost2</name>
<uri>model://lamp_post</uri>
<pose>-4 13 0 0 0 0</pose>
</include>

<road name="my_road">
<width>3</width>
<point>15 0 0.01</point>
<point>15 5 0.01</point>
<point>15 10 0.01</point>
<point>15 13 0.01</point>
<point>14 15 0.01</point>
<point>12 16 0.01</point>
<point>-12 16 0.01</point>
<point>-14 15 0.01</point>
<point>-15 12 0.01</point>
<point>-15 6 0.01</point>
<point>-15 3 0.01</point>
<point>-15 0 0.01</point>
<point>-16 -2 0.01</point>
<point>-17 -3 0.01</point>
<point>-27 -3 0.01</point>
<point>-28 -4 0.01</point>
<point>-28 -6 0.01</point>
<point>-28 -9 0.01</point>
<point>-28 -12 0.01</point>
<point>-28 -15 0.01</point>
<point>-28 -18 0.01</point>
<point>-28 -20 0.01</point>
<point>-27 -21 0.01</point>
<point>-25 -22 0.01</point>
<point>-24 -22 0.01</point>
<point>-21 -22 0.01</point>
<point>-18 -22 0.01</point>
<point>-15 -22 0.01</point>
<point>-12 -22 0.01</point>
<point>-9 -22 0.01</point>
<point>-6 -22 0.01</point>
<point>-3 -22 0.01</point>
<point>0 -22 0.01</point>
<point>6 -22 0.01</point>
<point>10 -22 0.01</point>
<point>12 -22 0.01</point>
<point>13 -21 0.01</point>
<point>14 -20 0.01</point>
<point>15 -19 0.01</point>
<point>15 -18 0.01</point>
<point>15 -17 0.01</point>
<point>15 -15 0.01</point>
<point>15 -12 0.01</point>
<point>15 -9 0.01</point>
<point>15 -6 0.01</point>
<point>15 -3 0.01</point>
<point>15 0 0.01</point>
</road>

<!-- Gazebo required specifications -->
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.004</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
</physics>

</world>
</sdf>
Empty file removed hal_interfaces/hal_interfaces/__init__.py
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79 changes: 0 additions & 79 deletions hal_interfaces/hal_interfaces/general/bumper.py
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76 changes: 0 additions & 76 deletions hal_interfaces/hal_interfaces/general/camera.py
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