diff --git a/crazyflie_ws/src/crazyflie_description/CMakeLists.txt b/crazyflie_ws/src/crazyflie_description/CMakeLists.txt new file mode 100644 index 0000000..8e3e49c --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 3.8) +project(crazyflie_description) + +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) + + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +# Install launch files +install(DIRECTORY + launch + urdf + meshes + rviz + config + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/crazyflie_ws/src/crazyflie_description/config/ros_gz_crazyflie_bridge.yaml b/crazyflie_ws/src/crazyflie_description/config/ros_gz_crazyflie_bridge.yaml new file mode 100644 index 0000000..c4cbd03 --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/config/ros_gz_crazyflie_bridge.yaml @@ -0,0 +1,10 @@ +--- +- ros_topic_name: "/cmd_vel" + gz_topic_name: "/crazyflie/gazebo/command/twist" + ros_type_name: "geometry_msgs/msg/Twist" + gz_type_name: "ignition.msgs.Twist" + direction: ROS_TO_GZ +- ros_topic_name: "/clock" + gz_topic_name: "/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" \ No newline at end of file diff --git a/crazyflie_ws/src/crazyflie_description/launch/spawn_crazyflie_gz.launch.py b/crazyflie_ws/src/crazyflie_description/launch/spawn_crazyflie_gz.launch.py new file mode 100644 index 0000000..ec7be21 --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/launch/spawn_crazyflie_gz.launch.py @@ -0,0 +1,65 @@ +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from launch.substitutions import LaunchConfiguration +from ament_index_python.packages import get_package_share_directory +import os +import xacro + + +def generate_launch_description(): + # Package and xacro path + pkg_share = get_package_share_directory("crazyflie_description") + xacro_file = os.path.join(pkg_share, "urdf", "crazyflie_body.xacro") + + # Process xacro → urdf + robot_description_config = xacro.process_file(xacro_file).toxml() + + # Launch argument for robot name + robot_name_arg = DeclareLaunchArgument( + "robot_name", + default_value="crazyflie", + description="Name of the robot" + ) + + # Start Gazebo Harmonic (empty world) + gazebo_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join( + get_package_share_directory("ros_gz_sim"), "launch", "gz_sim.launch.py" + ) + ), + launch_arguments={"gz_args": "-r empty.sdf"}.items(), + ) + + # Spawn robot in Gazebo + spawn_robot = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-name", LaunchConfiguration("robot_name"), + "-string", robot_description_config, + "-x", "0.0", # X position + "-y", "0.0", # Y position + "-z", "0.5", # Z position (height) + ], + output="screen", + ) + + # ROS-Gazebo bridge + bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + parameters=[{ + "config_file": os.path.join(pkg_share, "config", "ros_gz_crazyflie_bridge.yaml"), + }], + output="screen", + ) + + return LaunchDescription([ + robot_name_arg, + gazebo_launch, + spawn_robot, + bridge, + ]) diff --git a/crazyflie_ws/src/crazyflie_description/launch/view_crazyflie_launch.py b/crazyflie_ws/src/crazyflie_description/launch/view_crazyflie_launch.py new file mode 100644 index 0000000..d8d15fc --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/launch/view_crazyflie_launch.py @@ -0,0 +1,74 @@ +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import Command, PathJoinSubstitution +from launch.substitutions.launch_configuration import LaunchConfiguration + +from launch_ros.actions import Node + + +ARGUMENTS = [ + DeclareLaunchArgument('use_sim_time', default_value='false', + choices=['true', 'false'], + description='Use simulation (Gazebo) clock if true'), + DeclareLaunchArgument('robot_name', default_value='crazyflie', + description='Robot name'), + DeclareLaunchArgument('namespace', default_value=LaunchConfiguration('robot_name'), + description='Robot namespace'), +] + + +def generate_launch_description(): + pkg_crazyflie_description = get_package_share_directory('crazyflie_description') + + # Paths + xacro_file = PathJoinSubstitution([pkg_crazyflie_description, 'urdf', 'crazyflie_body.xacro']) + rviz_config_file = PathJoinSubstitution([pkg_crazyflie_description, 'rviz', 'crazyflie_body.rviz']) + + namespace = LaunchConfiguration('namespace') + + # Robot State Publisher + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[ + {'use_sim_time': LaunchConfiguration('use_sim_time')}, + {'robot_description': Command(['xacro ', xacro_file])}, + ], + remappings=[ + ('/tf', 'tf'), + ('/tf_static', 'tf_static') + ] + ) + + # Joint State Publisher GUI (for revolute joints) + joint_state_publisher_gui = Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='screen', + parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}], + remappings=[ + ('/tf', 'tf'), + ('/tf_static', 'tf_static') + ] + ) + + # RViz2 + rviz2 = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config_file], + output='screen' + ) + + # LaunchDescription + ld = LaunchDescription(ARGUMENTS) + ld.add_action(robot_state_publisher) + ld.add_action(joint_state_publisher_gui) + ld.add_action(rviz2) + return ld diff --git a/crazyflie_ws/src/crazyflie_description/meshes/collada_files/ccw_prop.dae b/crazyflie_ws/src/crazyflie_description/meshes/collada_files/ccw_prop.dae new file mode 100644 index 0000000..fb5c482 --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/meshes/collada_files/ccw_prop.dae @@ -0,0 +1,116 @@ + + + + + + + Kimberly McGuire (Bitcraze AB) + Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171 + + 2022-02-25T12:33:43 + 2022-02-25T12:33:43 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.3983051 + + + 1.45 + + + + + + + + + + + + + + + + + 0 0.001999974 -0.001999974 0 0.001999974 0.001999974 7.65367e-4 0.001847743 -0.001999974 7.65367e-4 0.001847743 0.001999974 0.001414179 0.001414179 -0.001999974 0.001414179 0.001414179 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+ + + + + + + + -1 1.50996e-7 0 0 -1.50996e-7 -1 0 -1.17131e-4 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/crazyflie_ws/src/crazyflie_description/meshes/collada_files/cf2_assembly.dae b/crazyflie_ws/src/crazyflie_description/meshes/collada_files/cf2_assembly.dae new file mode 100644 index 0000000..1336461 --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/meshes/collada_files/cf2_assembly.dae @@ -0,0 +1,398 @@ + + + + + + Kimberly McGuire (Bitcraze AB) + Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171 + Initial collada file + + 2022-02-25T11:02:12 + 2024-08-13T13:41:17 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 0.5 + + + 1.5 + + + + + + + + + + + 0 0 0 1 + + + 0.1169535 0.1169535 0.1169535 1 + + + 0.8 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.009523815 0.009523815 0.009523815 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.3428556 0.3428556 0.3428556 1 + + + 0.6528497 + + + 1.45 + 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768 114 181 769 115 181 770 68 182 771 120 182 772 121 182 773 63 183 774 115 183 775 106 183 776 110 184 777 119 184 778 67 184 779 82 185 780 134 185 781 133 185 782 78 186 783 130 186 784 138 186 785 83 187 786 135 187 787 134 187 788 79 188 789 131 188 790 130 188 791 85 189 792 137 189 793 135 189 794 81 190 795 133 190 796 136 190 797 132 191 798 131 191 799 79 191 800 86 192 801 138 192 802 137 192 803 90 193 804 142 193 805 143 193 806 95 194 807 147 194 808 139 194 809 91 195 810 143 195 811 144 195 812 139 196 813 140 196 814 88 196 815 92 197 816 144 197 817 146 197 818 93 198 819 145 198 820 142 198 821 88 199 822 140 199 823 141 199 824 94 200 825 146 200 826 147 200 827 89 201 828 141 201 829 132 201 830 136 202 831 145 202 832 93 202 833

+ + + + + + + + -1 1.50996e-7 0 1.18048e-4 -1.50996e-7 -1 0 0.002468158 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/crazyflie_ws/src/crazyflie_description/package.xml b/crazyflie_ws/src/crazyflie_description/package.xml new file mode 100644 index 0000000..3b47eba --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/package.xml @@ -0,0 +1,21 @@ + + + + crazyflie_description + 0.0.0 + + URDF and mesh files for the Crazyflie micro quadcopter, providing its physical description + for simulation and visualization in ROS 2. + + Haroon Rasheed + MIT + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/crazyflie_ws/src/crazyflie_description/rviz/crazyflie_body.rviz b/crazyflie_ws/src/crazyflie_description/rviz/crazyflie_body.rviz new file mode 100644 index 0000000..820d1ef --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/rviz/crazyflie_body.rviz @@ -0,0 +1,183 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 719 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + 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: /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 + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + crazyflie_body: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 0.5209572911262512 + 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 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.315398246049881 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6153981685638428 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1850 + X: 70 + Y: 27 diff --git a/crazyflie_ws/src/crazyflie_description/urdf/crazyflie_body.xacro b/crazyflie_ws/src/crazyflie_description/urdf/crazyflie_body.xacro new file mode 100644 index 0000000..66d5a01 --- /dev/null +++ b/crazyflie_ws/src/crazyflie_description/urdf/crazyflie_body.xacro @@ -0,0 +1,227 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${robot_ns} + ${control_command_topic} + ${control_enable_topic} + base_footprint + ${control_velocity_gain} + ${control_attitude_gain} + ${control_angular_rate_gain} + + + body_to_m1_prop + ${control_force_constant} + ${control_moment_constant} + 1 + + + body_to_m2_prop + ${control_force_constant} + ${control_moment_constant} + -1 + + + body_to_m3_prop + ${control_force_constant} + ${control_moment_constant} + 1 + + + body_to_m4_prop + ${control_force_constant} + ${control_moment_constant} + -1 + + + + + ${robot_ns} + body_to_m1_prop + m1_prop + ccw + ${max_rot_velocity} + ${motor_constant} + ${moment_constant} + ${rotor_drag_coefficient} + ${rolling_moment_coefficient} + ${rotor_velocity_slowdown_sim} + 0 + velocity + + + ${robot_ns} + body_to_m2_prop + m2_prop + cw + ${max_rot_velocity} + ${motor_constant} + ${moment_constant} + ${rotor_drag_coefficient} + ${rolling_moment_coefficient} + ${rotor_velocity_slowdown_sim} + 1 + velocity + + + ${robot_ns} + body_to_m3_prop + m3_prop + ccw + ${max_rot_velocity} + ${motor_constant} + ${moment_constant} + ${rotor_drag_coefficient} + ${rolling_moment_coefficient} + ${rotor_velocity_slowdown_sim} + 2 + velocity + + + ${robot_ns} + body_to_m4_prop + m4_prop + cw + ${max_rot_velocity} + ${motor_constant} + ${moment_constant} + ${rotor_drag_coefficient} + ${rolling_moment_coefficient} + ${rotor_velocity_slowdown_sim} + 3 + velocity + + +