diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index ed6c31903..c8899cfbe 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -112,10 +112,11 @@ install(PROGRAMS DESTINATION lib/${PROJECT_NAME} ) -# Install launch and config files. +# Install launch, config, and urdf files. install(DIRECTORY launch config + urdf DESTINATION share/${PROJECT_NAME}/ ) diff --git a/crazyflie/config/config.rviz b/crazyflie/config/config.rviz index d19a5dc9a..9d1b49a9e 100644 --- a/crazyflie/config/config.rviz +++ b/crazyflie/config/config.rviz @@ -52,7 +52,7 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - test: + cf231: Value: true world: Value: true @@ -60,13 +60,44 @@ Visualization Manager: Name: TF Show Arrows: true Show Axes: true - Show Names: false + Show Names: true Tree: world: - test: + cf231: {} Update Interval: 0 Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cf231/robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + cf231: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: CF231 + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -113,25 +144,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 6.814720153808594 + Distance: 3.1647839546203613 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: -0.028163839131593704 + Y: -0.049007341265678406 + Z: -0.025782346725463867 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.665398120880127 + Pitch: 0.4847976565361023 Target Frame: Value: Orbit (rviz) - Yaw: 2.8785719871520996 + Yaw: 2.9185757637023926 Saved: ~ Window Geometry: Displays: diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index e71b9cf51..8a9290c11 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -30,6 +30,15 @@ def generate_launch_description(): server_params = [crazyflies] + [server_yaml_contents["/crazyflie_server"]["ros__parameters"]] + # robot description + urdf = os.path.join( + get_package_share_directory('crazyflie'), + 'urdf', + 'crazyflie_description.urdf') + with open(urdf, 'r') as f: + robot_desc = f.read() + server_params[1]["robot_description"] = robot_desc + # construct motion_capture_configuration motion_capture_yaml = os.path.join( get_package_share_directory('crazyflie'), diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index ca44a9320..fbbe8fe72 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -30,6 +30,7 @@ from motion_capture_tracking_interfaces.msg import NamedPoseArray from std_srvs.srv import Empty +from std_msgs.msg import String from geometry_msgs.msg import Twist from geometry_msgs.msg import PoseStamped, TransformStamped from sensor_msgs.msg import LaserScan @@ -220,6 +221,16 @@ def __init__(self): for uri in self.cf_dict: name = self.cf_dict[uri] + + pub = self.create_publisher(String, name + '/robot_description', + rclpy.qos.QoSProfile( + depth=1, + durability=rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL)) + + msg = String() + msg.data = self._ros_parameters['robot_description'].replace("$NAME", name) + pub.publish(msg) + self.create_service( Empty, name + "/emergency", partial(self._emergency_callback, uri=uri) diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index d79e307f7..4a71e0245 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -12,6 +12,7 @@ #include "crazyflie_interfaces/srv/land.hpp" #include "crazyflie_interfaces/srv/go_to.hpp" #include "crazyflie_interfaces/srv/notify_setpoints_stop.hpp" +#include "std_msgs/msg/string.hpp" #include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" @@ -160,6 +161,15 @@ class CrazyflieROS subscription_cmd_full_state_ = node->create_subscription(name + "/cmd_full_state", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieROS::cmd_full_state_changed, this, _1), sub_opt_cf_cmd); subscription_cmd_position_ = node->create_subscription(name + "/cmd_position", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieROS::cmd_position_changed, this, _1), sub_opt_cf_cmd); + publisher_robot_description_ = node->create_publisher(name + "/robot_description", + rclcpp::QoS(1).transient_local()); + { + auto msg = std::make_unique(); + auto robot_desc = node->get_parameter("robot_description").get_parameter_value().get(); + msg->data = std::regex_replace(robot_desc, std::regex("\\$NAME"), name); + publisher_robot_description_->publish(std::move(msg)); + } + // spinning timer // used to process all incoming radio messages spin_timer_ = @@ -871,6 +881,8 @@ class CrazyflieROS rclcpp::Subscription::SharedPtr subscription_cmd_full_state_; rclcpp::Subscription::SharedPtr subscription_cmd_position_; + rclcpp::Publisher::SharedPtr publisher_robot_description_; + // logging std::unique_ptr> log_block_pose_; rclcpp::Publisher::SharedPtr publisher_pose_; @@ -953,6 +965,8 @@ class CrazyflieServer : public rclcpp::Node broadcasts_delay_between_repeats_ms_ = this->get_parameter("all.broadcasts.delay_between_repeats_ms").get_parameter_value().get(); mocap_enabled_ = false; + this->declare_parameter("robot_description", ""); + // Warnings this->declare_parameter("warnings.frequency", 1.0); float freq = this->get_parameter("warnings.frequency").get_parameter_value().get(); diff --git a/crazyflie/urdf/cf2_assembly_with_props.dae b/crazyflie/urdf/cf2_assembly_with_props.dae new file mode 100644 index 000000000..8e781721e --- /dev/null +++ b/crazyflie/urdf/cf2_assembly_with_props.dae @@ -0,0 +1,433 @@ + + + + + + Kimberly McGuire (Bitcraze AB) + Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b + + 2024-01-30T21:06:41 + 2024-01-30T21:06:41 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.009523815 0.009523815 0.009523815 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.1169535 0.1169535 0.1169535 1 + + + 0.8 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.3428556 0.3428556 0.3428556 1 + + + 0.6528497 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + + -0.00999999 0.00999999 5e-4 -0.00999999 0.00999999 0.002499997 -0.00999999 0.01199996 0.002499997 -0.00999999 0.01199996 5e-4 0.00999999 0.01199996 0.002499997 0.00999999 0.01199996 5e-4 0.00999999 0.00999999 0.002499997 0.00999999 0.00999999 5e-4 -0.00999999 -0.00999999 5e-4 -0.00999999 -0.01199996 5e-4 -0.00999999 -0.01199996 0.002499997 -0.00999999 -0.00999999 0.002499997 0.00999999 -0.01199996 5e-4 0.00999999 -0.01199996 0.002499997 0.00999999 -0.00999999 5e-4 0.00999999 -0.00999999 0.002499997 -0.00999999 -0.01399999 -5e-4 -0.00999999 -0.01399999 5e-4 -0.00999999 0.01399999 5e-4 -0.00999999 0.01399999 -5e-4 0.00999999 0.01399999 5e-4 0.00999999 0.01399999 -5e-4 0.00999999 -0.01399999 5e-4 0.00999999 -0.01399999 -5e-4 -0.00109595 0.008999943 -5e-4 0.00109595 0.008999943 -5e-4 0.00109595 -0.008999943 -5e-4 -0.00109595 -0.008999943 -5e-4 -0.008095979 0.008999943 -5e-4 -0.008095979 -0.008999943 -5e-4 0.008095979 -0.008999943 -5e-4 0.008095979 0.008999943 -5e-4 -0.00109595 -0.008999943 5e-4 -0.008095979 -0.008999943 5e-4 -0.008095979 0.008999943 5e-4 -0.00109595 0.008999943 5e-4 0.00109595 0.008999943 5e-4 0.008095979 0.008999943 5e-4 0.008095979 -0.008999943 5e-4 0.00109595 -0.008999943 5e-4 + + + + + + + + + + -1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 -1 0 0 1 0 0 1 0 0 + + + + + + + + + + + + + + +

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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0.025 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0.011 0 0 1 0.014 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1.229657 0.02 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0.015 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + 0.705359 0 0 0.031 0 0.705359 0 0.031 0 0 0.705359 0.014 0 0 0 1 + + + + + + + + + + + + 0.7071068 0.7071068 0 0.031 -0.7071068 0.7071068 0 0.031 0 0 1 0.014 0 0 0 1 + + + + + + + + + + 0.6918778 0.7220147 0 0.031 -0.7220147 0.6918778 0 0.031 0 0 1 0.022 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/crazyflie/urdf/crazyflie_description.urdf b/crazyflie/urdf/crazyflie_description.urdf new file mode 100644 index 000000000..88a68e5c0 --- /dev/null +++ b/crazyflie/urdf/crazyflie_description.urdf @@ -0,0 +1,11 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index 0d05fede7..13bf4ae2e 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -16,6 +16,7 @@ import rclpy from rclpy.node import Node import rowan +from std_msgs.msg import String from std_srvs.srv import Empty @@ -100,6 +101,17 @@ def __init__(self): self._start_trajectory_callback) for name, _ in self.cfs.items(): + pub = self.create_publisher( + String, + name + '/robot_description', + rclpy.qos.QoSProfile( + depth=1, + durability=rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL)) + + msg = String() + msg.data = self._ros_parameters['robot_description'].replace('$NAME', name) + pub.publish(msg) + self.create_service( Empty, name + '/emergency',