add 10 show car in rviz

10_show_car_in_rviz/car_model/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(car_model)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES car_model
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/car_model.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/car_model_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_car_model.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

10_show_car_in_rviz/car_model/config/smart_control_config.yaml

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+smart:
+# controls the rear two tires based on individual motors
+  # Publish all joint states -----------------------------------
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 50  
+  rear_right_velocity_controller:
+    type: velocity_controllers/JointVelocityController
+    joint: rear_right_wheel_joint
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  rear_left_velocity_controller:
+    type: velocity_controllers/JointVelocityController
+    joint: rear_left_wheel_joint
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  front_right_steering_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: front_right_steering_joint
+    pid: {p: 40000.0, i: 200.0, d: 1.0}    
+  front_left_steering_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: front_left_steering_joint
+    pid: {p: 40000.0, i: 200.0, d: 1.0}
+  # gazebo_ros_control:
+  #   pid_gains:
+  #     rear_right_wheel_joint:
+  #       p: 100.0
+  #       i: 0.5
+  #       d: 0.0
+  #     rear_left_wheel_joint:
+  #       p: 100.0
+  #       i: 0.5
+  #       d: 0.0

10_show_car_in_rviz/car_model/launch/control.launch

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+<?xml version='1.0' encoding='UTF-8'?>
+<launch>
+  <arg name="robot_name"/>
+  <arg name="config_file"/>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find car_model)/config/$(arg config_file)" command="load"/>
+
+  <!-- load controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+        output="screen" ns="/$(arg robot_name)" args="joint_state_controller rear_right_velocity_controller rear_left_velocity_controller front_right_steering_position_controller front_left_steering_position_controller"/>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
+      respawn="true" output="screen">
+      <remap from="/joint_states" to="/$(arg robot_name)/joint_states" />
+  </node>
+
+  <node name="cmdvel2gazebo" pkg="car_model" type="cmdvel2gazebo.py" respawn="true" output="screen"/>
+
+  <node name="vehicle_pose_and_velocity_updater" pkg="car_model" type="vehicle_pose_and_velocity_updater.py" respawn="true" output="screen"/>
+
+  <!-- <node name="transform_publisher" pkg="car_model" type="transform_publisher.py" respawn="true" output="screen"/> -->
+
+</launch>

10_show_car_in_rviz/car_model/launch/spawn_car.launch

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+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+	<include file="$(find car_model)/launch/spawn_xacro.launch">
+
+		<arg name="x" value="0.0"/>
+		<arg name="y" value="0.0"/>
+		<arg name="z" value="0.0"/>
+		<arg name="urdf_robot_file" value="$(find car_model)/urdf/smart.xacro"/>
+		<arg name="robot_name" value="smart"/>
+
+	</include>
+
+  <include file="$(find car_model)/launch/control.launch">
+    <arg name="robot_name" value="smart"/>
+    <arg name="config_file" value="smart_control_config.yaml"/>
+  </include>
+
+</launch>

10_show_car_in_rviz/car_model/launch/spawn_xacro.launch

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+
+	<arg name="x" default="0.0"/>
+	<arg name="y" default="0.0"/>
+	<arg name="z" default="0.0"/>
+
+	<arg name="urdf_robot_file" default=""/>
+	<arg name="robot_name" default=""/>
+
+	<!-- <param name="robot_description" command="$(arg urdf_robot_file)"/> -->
+	<param name="robot_description" command="$(find xacro)/xacro '$(arg urdf_robot_file)' roboname:='smart'" />
+
+	<node name="spawn_model" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -model $(arg robot_name) -param robot_description"/>
+
+</launch>