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Zed faker stacksim #3

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c04d351
Collisions sorta
Chungglez Jan 14, 2024
e2e34fe
Thruster Delay, collisions sorta, settings file
Chungglez Jan 14, 2024
a246e63
3x3 Inertia, collision marker array, IMU has gravity, TF simulator fr…
Chungglez Jan 23, 2024
3366d21
DOESN'T WORK - uploading in case I get mugged :P
Chungglez Mar 9, 2024
7a34578
DOESNT WORK (in case my laptop dies)
Chungglez Mar 15, 2024
da57a01
for optop test
Chungglez Mar 19, 2024
268a982
simulator pool test!
Chungglez Mar 26, 2024
cf498d5
post simulator test, fixed camera info
osu-uwrt-bot2 Mar 27, 2024
3363f00
add deploy ignore so zed faker isnt built on the orin
osu-uwrt-bot2 Mar 30, 2024
06081bb
publish object position ground truth, add full launch
osu-uwrt-bot2 Apr 19, 2024
b605b0f
add dependencies to c_sim for the full launch
osu-uwrt-bot2 Apr 20, 2024
db55d9f
Now using intrinsic parameters for lens distortion
zehdari May 12, 2024
51ac4cb
Added projection matrix to camera class using intrinsic values, still…
osu-uwrt-bot2 May 12, 2024
4b381bb
Now using intrinsic property calculated projection matrix in shaders
zehdari May 13, 2024
ac9c9c4
Changed zed camera topics from raw to rect
zehdari May 13, 2024
1c24eb3
make camera faker optional
BTK203 Aug 3, 2024
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8 changes: 6 additions & 2 deletions c_simulator/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(riptide_msgs2 REQUIRED)
Expand All @@ -19,9 +20,10 @@ find_package(Eigen3 REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(urdf REQUIRED)
find_package(robot_localization REQUIRED)

add_executable(physics_simulator src/physics_simulator.cpp src/robot_class.cpp)
add_executable(physics_simulator src/physics_simulator.cpp src/robot_class.cpp src/collisionBox_class.cpp)

target_include_directories(physics_simulator PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
Expand All @@ -31,11 +33,13 @@ target_include_directories(physics_simulator PUBLIC
ament_target_dependencies(physics_simulator
Eigen3
rclcpp
urdf
tf2
tf2_ros
std_msgs
riptide_msgs2
robot_localization
visualization_msgs
geometry_msgs
sensor_msgs
nav_msgs
Expand All @@ -48,7 +52,7 @@ install(TARGETS physics_simulator
DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY launch
install(DIRECTORY launch collision_files
DESTINATION share/${PROJECT_NAME}
)

Expand Down
17 changes: 17 additions & 0 deletions c_simulator/collision_files/obstacles/buoy.urdf
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@@ -0,0 +1,17 @@
<?xml version="1.0"?>

<robot name="buoy">
<!-- Buoy box -->
<link name="buoy">
<visual>
<geometry>
<box size="0.05 1.2 1.2"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.05 1.2 1.2"/>
</geometry>
</collision>
</link>
</robot>
61 changes: 61 additions & 0 deletions c_simulator/collision_files/obstacles/gate.urdf
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@@ -0,0 +1,61 @@
<?xml version="1.0"?>

<robot name="gate">
<link name="gate">
<!-- Gate Top Box -->
<visual>
<geometry>
<box size="0.0762 3.048 0.0762"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.6096"/>
</visual>
<collision>
<geometry>
<box size="0.0762 3.048 0.0762"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.6096"/>
</collision>

<!-- Gate Middle Box -->
<visual>
<geometry>
<box size="0.0762 0.0762 0.6096"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.3048"/>
</visual>
<collision>
<geometry>
<box size="0.0762 0.0762 0.6096"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.3048"/>
</collision>

<!-- Gate Left Post Box -->
<visual>
<geometry>
<box size="0.0762 0.0762 1.524"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -1.524 -0.1524"/>
</visual>
<collision>
<geometry>
<box size="0.0762 0.0762 1.524"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -1.524 -0.1524"/>
</collision>

<!-- Gate Right Post Box -->
<visual>
<geometry>
<box size="0.0762 0.0762 1.524"/>
</geometry>
<origin rpy="0 0 0" xyz="0 1.524 -0.1524"/>
</visual>
<collision>
<geometry>
<box size="0.0762 0.0762 1.524"/>
</geometry>
<origin rpy="0 0 0" xyz="0 1.524 -0.1524"/>
</collision>
</link>
</robot>
111 changes: 111 additions & 0 deletions c_simulator/collision_files/obstacles/octogon.urdf
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@@ -0,0 +1,111 @@
<?xml version="1.0"?>

<robot name="octogon">
<link name="octogon">
<!-- Octogon side 1 -->
<visual>
<geometry>
<box size="0.04 1.136 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="1.3716 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.04 1.136 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="1.3716 0 0"/>
</collision>
<!-- Octogon side 2 -->
<visual>
<geometry>
<box size="0.04 1.136 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.3716 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.04 1.136 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.3716 0 0"/>
</collision>
<!-- Octogon side 3 -->
<visual>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 1.3716 0"/>
</visual>
<collision>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 1.3716 0"/>
</collision>
<!-- Octogon side 4 -->
<visual>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -1.3716 0"/>
</visual>
<collision>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -1.3716 0"/>
</collision>
<!-- Octogon side 5 -->
<visual>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 -0.7853" xyz="0.97 0.97 0"/>
</visual>
<collision>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 -0.7854" xyz="0.97 0.97 0"/>
</collision>
<!-- Octogon side 6 -->
<visual>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 -0.7853" xyz="-0.97 -0.97 0"/>
</visual>
<collision>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 -0.7854" xyz="-0.97 -0.97 0"/>
</collision>
<!-- Octogon side 7 -->
<visual>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 0.7853" xyz="0.97 -0.97 0"/>
</visual>
<collision>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 0.7854" xyz="0.97 -0.97 0"/>
</collision>
<!-- Octogon side 8 -->
<visual>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 0.7853" xyz="-0.97 0.97 0"/>
</visual>
<collision>
<geometry>
<box size="1.136 0.04 0.04"/>
</geometry>
<origin rpy="0 0 0.7854" xyz="-0.97 0.97 0"/>
</collision>

</link>
</robot>
17 changes: 17 additions & 0 deletions c_simulator/collision_files/obstacles/torpedo.urdf
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@@ -0,0 +1,17 @@
<?xml version="1.0"?>

<robot name="torpedo">
<!-- Torpedo box -->
<link name="torpedo">
<visual>
<geometry>
<box size="0.05 1.2 1.2"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.05 1.2 1.2"/>
</geometry>
</collision>
</link>
</robot>
37 changes: 37 additions & 0 deletions c_simulator/collision_files/robots/puddles_placeholder.urdf
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@@ -0,0 +1,37 @@
<?xml version="1.0"?>

<robot name="puddles">
<!-- AYO big dawg, this file doesn't exist because IDK what offsets to use for puddles cuz idk where orgin is. This is just a placeholder -->
<!-- It's really meant to show you can have multiples robot files and the sim picks the right one -->
<!-- If you were to actually create it, I'd have one box for chassis, and one box for hull -->

<link name="puddles">
<!-- Chassis Box -->
<visual>
<geometry>
<box size="0.42 0.93 0.65"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.42 0.93 0.65"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>

<!-- Hull Box -->
<visual>
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="1 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="1 0 0"/>
</collision>
</link>
</robot>
33 changes: 33 additions & 0 deletions c_simulator/collision_files/robots/talos.urdf
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@@ -0,0 +1,33 @@
<?xml version="1.0"?>

<robot name="talos">
<link name="talos">
<!-- Chassis Box -->
<visual>
<geometry>
<box size="0.42 0.93 0.65"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.42 0.93 0.65"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>

<!-- Poker Box -->
<visual>
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.23 -0.2 -0.1"/>
</visual>
<collision>
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.23 -0.2 -0.1"/>
</collision>
</link>
</robot>
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