Merge pull request #51 from ISC-Project-Phoenix/redtoo_dev

Bring Phoenix up to date with main

Author: redto0

phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py

@@ -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',

phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py

@@ -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,

phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py

@@ -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
         }])

phoenix_gazebo/launch/sim.launch.py

@@ -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,

phoenix_gazebo/webots_project/protos/Phoenix2.proto

@@ -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`.
@@ -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 }
           ]
@@ -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 {
@@ -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

phoenix_robot/launch/common.launch.py

@@ -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(),
     )
 
@@ -156,7 +156,6 @@ def generate_launch_description():
         state_publishers,
         ekf,
         camera,
-        sick,
         pir,
         pp,
         obj_detector_ai,

phoenix_robot/launch/include/oakd/dual_cameras.launch.py

@@ -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'),