Wrap everything with ROS

CMakeLists.txt

@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.5)
+project(rocket_tracker)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+
+install(
+  DIRECTORY description launch worlds
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

README.md

@@ -18,3 +18,8 @@ To run the tracker IRL, do `python3 control_telescope.py`
 
 ## Installing camera software:
 https://pypi.org/project/camera-zwo-asi/
+
+
+## ROS commands
+
+ros2 launch rocket_tracker rsp_sim.launch.py

description/README.md

@@ -0,0 +1 @@
+all these files are copied from https://github.com/joshnewans/urdf_example

description/example_gazebo.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <!-- This file demonstrates the use of some <gazebo> tags -->
+
+    <!-- To include it add the following line -->
+    <!-- <xacro:include filename="example_gazebo.xacro" /> -->
+
+
+
+    <!-- Gazebo is unable to use the same <material> tags that are already in the URDF (that RViz uses). -->
+    <!-- Instead, we need to add gazebo tags for our links that refer to Gazebo materials -->
+
+
+    <gazebo reference="base_link">
+        <material>Gazebo/Green</material>
+    </gazebo>
+
+    <gazebo reference="slider_link">
+        <material>Gazebo/Blue</material>
+    </gazebo>
+
+    <gazebo reference="arm_link">
+        <material>Gazebo/Orange</material>
+    </gazebo>
+
+
+
+
+    <!-- Gazebo requires the use of plugins to interact with other systems such as ROS. -->
+
+
+    <!-- This plugin will publish the joint_states for the selected joints 
+            (which robot_state_publisher can then use to broadcast the approprate tf). -->
+
+    <gazebo>
+        <plugin name="gazebo_ros_joint_state_publisher"
+            filename="libgazebo_ros_joint_state_publisher.so">
+            <update_rate>20</update_rate>
+            <joint_name>azi_joint</joint_name>
+            <joint_name>alt_joint</joint_name>
+        </plugin>
+    </gazebo>
+
+
+    <!-- This plugin will read a JointTrajectory message from the /set_joint_trajectory topic 
+            and move the machine accordingly. It's a bit clunky but it works. -->
+    <!-- You'll probably want to add damping to the joints to stop them it flopping around. 
+            e.g. <dynamics damping="10.0" friction="10.0"/> -->
+    <!-- Here's an example message to publish to test it:
+            ros2 topic pub -1 /set_joint_trajectory trajectory_msgs/msg/JointTrajectory  '{header: {frame_id: world}, joint_names: [arm_joint], points: [  {positions: {0.6}} ]}' -->
+    <gazebo>
+        <plugin name="gazebo_ros_joint_pose_trajectory"
+            filename="libgazebo_ros_joint_pose_trajectory.so">
+            <update_rate>2</update_rate>
+        </plugin>
+    </gazebo>
+
+
+
+
+
+
+
+    <!-- The next section shows an example of adding a sensor, in this case a depth camera. -->
+
+    <!-- Due to a quirk of how cameras work, an extra joint/link is required to create an
+            "optical frame" for the sensor. That isn't the focus for this tutorial, but you can
+            look at https://www.ros.org/reps/rep-0103.html#suffix-frames for slightly more information. -->
+
+
+
+    <!-- First, create the link and joint for the optical frame -->
+
+    <joint name="camera_optical_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="-1.571 0 -1.571" />
+        <parent link="camera_link" />
+        <child link="camera_link_optical" />
+    </joint>
+
+    <link name="camera_link_optical"></link>
+
+
+    <!-- Add a gazebo tag for the ORIGINAL camera_link (but in the plugin we reference the optical frame so that ROS can orient things correctly) -->
+    <!-- Within the gazebo tag we have the sensor tag, and inside that there is (among other things) the camera tag with the camera parameters, 
+            and the plugin tag with some extra parameters the plugin needs. -->
+    <!-- Note that although visualise is set to true, it won't actually visualise the depth camera in gazebo. To see the preview, 
+            try swapping "depth" to "camera"-->
+    <gazebo reference="camera_link">
+        <sensor type="camera" name="my_camera">
+            <update_rate>20</update_rate>
+            <visualize>true</visualize>
+            <camera name="cam">
+                <horizontal_fov>1.3962634</horizontal_fov>
+                <image>
+                    <width>640</width>
+                    <height>480</height>
+                    <format>R8B8G8</format>
+                </image>
+                <clip>
+                    <near>0.02</near>
+                    <far>10000</far>
+                </clip>
+                <noise>
+                    <type>gaussian</type>
+                    <mean>0.0</mean>
+                    <stddev>0.007</stddev>
+                </noise>
+            </camera>
+            <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+                <frame_name>camera_link_optical</frame_name>
+                <min_depth>0.1</min_depth>
+                <max_depth>10000</max_depth>
+            </plugin>
+        </sensor>
+    </gazebo>
+
+
+
+
+</robot>

description/example_include.xacro

@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+    <!-- This file is not a robot in and of itself, it just contains some useful tags that could be included in any robot -->
+
+
+
+    <!-- Specify some colours -->
+
+    <material name="white">
+        <color rgba="1 1 1 1"/>
+    </material>
+
+    <material name="orange">
+        <color rgba="1 0.3 0.1 1"/>
+    </material>
+
+    <material name="blue">
+        <color rgba="0.2 0.2 1 1"/>
+    </material>
+
+
+
+    <!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
+    <!-- These make use of xacro's mathematical functionality -->
+
+    <xacro:macro name="inertial_box" params="mass x y z *origin">
+        <inertial>
+            <xacro:insert_block name="origin"/>
+            <mass value="${mass}" />
+            <inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
+                    iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
+                    izz="${(1/12) * mass * (x*x+y*y)}" />
+        </inertial>
+    </xacro:macro>
+
+
+    <xacro:macro name="inertial_cylinder" params="mass length radius *origin">
+        <inertial>
+            <xacro:insert_block name="origin"/>
+            <mass value="${mass}" />
+            <inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
+                    iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
+                    izz="${(1/2) * mass * (radius*radius)}" />
+        </inertial>
+    </xacro:macro>
+
+
+</robot>