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Merged
Derek-Servin merged 11 commits into from
May 30, 2025
Merged

Redtoo dev unto DEV #49

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e0dcd91
init working for CV
redto0 Mar 21, 2025
54fe2c1
update
redto0 Mar 22, 2025
6a66fb3
Changed launch package to correct name
JaredWensley Apr 5, 2025
8159ff7
updated rviz wiht path
Apr 7, 2025
2ddcc19
Update Phoenix2.proto to reflect IRL
Derek-Servin Apr 8, 2025
f47bfc3
adjusted rviz
JaredWensley Apr 9, 2025
0f88f11
remove lidar test
redto0 Apr 24, 2025
01fd2e3
minor change
redto0 Apr 25, 2025
65a714b
sending to kart
redto0 Apr 25, 2025
d6877b4
use CV stack by default. not AI
JaredWensley May 9, 2025
37979dd
Merge branch 'main' into redtoo_dev
redto0 May 28, 2025
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2 changes: 1 addition & 1 deletion phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ def generate_launch_description():
default_value='4.0',
description='Maximum speed'),
DeclareLaunchArgument('min_speed',
default_value='0.5',
default_value='1.0',
description='Minimum speed'),
DeclareLaunchArgument('avoidance_radius',
default_value='2.0',
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4 changes: 2 additions & 2 deletions phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py
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Expand Up @@ -33,8 +33,8 @@ def generate_launch_description():

det = Node(
package='obj_detector_cv',
executable='obj_detector_cv',
name='obj_detector_cv',
executable='cv_subscriber',
name='cv_subscriber',
output='screen',
parameters=[{
'use_sim_time': use_sim_time,
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3 changes: 0 additions & 3 deletions phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py
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Expand Up @@ -37,9 +37,6 @@ def generate_launch_description():
executable='sensor_processor',
name='sensor_processor',
output='screen',
remappings=[
('/lidar/filtered_scan', '/scan'),
],
parameters=[{
'use_sim_time': use_sim_time
}])
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2 changes: 1 addition & 1 deletion phoenix_gazebo/launch/sim.launch.py
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Expand Up @@ -83,7 +83,7 @@ def generate_launch_description():
poly_plan = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
os.path.join(pkg_phoenix_gazebo, 'launch'),
'/include/polynomial_planner/polynomial_planner.launch.py'
'/include/polynomial_planner/polynomial_planner_ai.launch.py'
]),
launch_arguments={
'use_sim_time': use_sim_time,
Expand Down
62 changes: 38 additions & 24 deletions phoenix_gazebo/webots_project/protos/Phoenix2.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/released/proje
PROTO Phoenix2 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "Phoenix" # Is PHOENIX V2 By Derek Servin <deservin@umich.edu>
field SFString name "Phoenix" # Is Phoenix2 By Derek Servin <deservin@umich.edu>
field SFString controller "<extern>" # Is `Robot.controller`.
field MFString controllerArgs [] # Is `Robot.controllerArgs`.
field SFBool supervisor FALSE # Is `Robot.supervisor`.
Expand Down Expand Up @@ -145,7 +145,7 @@ PROTO Phoenix2 [

# Lidar
Solid {
translation 1.40000 0.000000 0.250000
translation 1.2 -0.01 0.25 #1.40000 0.000000 0.250000
children [
SickS300 { enablePhysics FALSE noise 0.05 }
]
Expand Down Expand Up @@ -191,17 +191,24 @@ PROTO Phoenix2 [
]
}
}
DEF Blackstruct Shape {
appearance PBRAppearance {
baseColor 0 0 0
roughness 0.2
metalness 0.5
}
geometry Mesh {
url [
"../../models/phoenix_elements/phoenix_3Dmodel__blackStructure.obj"
]
}
DEF Blackstruct Transform {
translation 0 0.04 0
scale 1 0.9 1
children [
DEF Blackstruct Shape {
appearance PBRAppearance {
baseColor 0 0 0
roughness 0.2
metalness 0.5
}
geometry Mesh {
url [
"/home/derek/Phoenix_ws/src/Phoenix/phoenix_gazebo/models/phoenix_elements/phoenix_3Dmodel__blackStructure.obj"
]
}
castShadows FALSE
}
]
}
DEF RRBumper Shape {
appearance PBRAppearance {
Expand All @@ -216,18 +223,25 @@ PROTO Phoenix2 [
}
}
Pose {
translation 0 0.04 0
translation 0 0.04 -0.14
children [
DEF FRBumper Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Mesh {
url [
"../../models/phoenix_elements/phoenix_3Dmodel__frontBumper.obj"
]
}
Transform {
translation 0 0 0.41
scale 1 0.8 0.6
children [
DEF FRBumper Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Mesh {
url [
"/home/derek/Phoenix_ws/src/Phoenix/phoenix_gazebo/models/phoenix_elements/phoenix_3Dmodel__frontBumper.obj"
]
}
castShadows FALSE
}
]
}
]
translationStep 0.02
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3 changes: 1 addition & 2 deletions phoenix_robot/launch/common.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ def generate_launch_description():
]),
launch_arguments={
'use_sim_time': use_sim_time,
'config_file': PathJoinSubstitution([pkg_phoenix_robot, 'config', 'ros2_sick', 'sick_lms111.yaml'])
'config_file': PathJoinSubstitution([pkg_phoenix_robot, 'config' ]) # , 'ros2_sick', 'sick_lms111.yaml'])
}.items(),
)

Expand Down Expand Up @@ -156,7 +156,6 @@ def generate_launch_description():
state_publishers,
ekf,
camera,
sick,
pir,
pp,
obj_detector_ai,
Expand Down
5 changes: 1 addition & 4 deletions phoenix_robot/launch/include/oakd/dual_cameras.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,7 @@ def generate_launch_description():
cameral = GroupAction(
actions=[
# Topic remaps
SetRemap('/oakl/stereo/image_raw', '/camera/left/depth'),
SetRemap('/oakl/stereo/camera_info', '/camera/left/depth/camera_info'),
SetRemap('/oakl/stereo/image_raw/compressed', '/camera/left/depth/compressed'),
SetRemap('/oakl/rgb/image_raw', '/camera/left/rgb'),
SetRemap('/oakl/sIncludeLaunchDescriptiongb/image_raw', '/camera/left/rgb'),
SetRemap('/oakl/rgb/image_raw/compressed', '/camera/left/rgb/compressed'),
SetRemap('/oakl/rgb/image_raw/theora', '/camera/left/rgb/compressed/theora'),
SetRemap('/oakl/rgb/camera_info', '/camera/left/rgb/camera_info'),
Expand Down
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