Merge pull request #200 from rubennc91/master

Added the project for the paper related with sim FPGA
JdeRobot · Jul 22, 2023 · ba90096 · ba90096
2 parents 99d7d38 + 6a23fce
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diff --git a/sim_fpga/paper-FPGA_Robotics-sim-FPGA/README.md b/sim_fpga/paper-FPGA_Robotics-sim-FPGA/README.md
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+
+### Prepare ROS WorkSpace
+    mkdir paper_simfpga_ws
+    cd paper_simfpga_ws
+    mkdir src
+    cd src
+    catkin_create_pkg diffdrive_cam_bot std_msgs rospy roscpp
+Copy the sources from paper_ros_ws to my directory source of the package. Include the turtlebot2_urdf_model folder.
+
+    (opt) cp -r * ~/catkin_ws/src/
+    cd .. (paper_simfpga_ws)
+    catkin_make
+    roscd diffdrive_cam_turtlebot to check
+    roslaunch diffdrive_cam_bot main.launch
+
+### Prepare Verilator workspace
+Copy the workspace from paper_verilator_ws in a place.
+
+    cd paper_verilator_ws
+    make
+##### Check the PoC verilator simFPGA
+    ./obj_dir/Vdesign_top
+
+### Start it up all together:
+- Terminal 1: Launch ROS (`roscore`)
+- Terminal 2: Launch PoC verilator simFPGA (`./obj_dir/Vdesign_top`)
+- Terminal 3: Launch Gazebo environment (`roslaunch diffdrive_cam_bot main.launch`)
+
+### Possible bug fixes
+    source /opt/ros/noetic/setup.bash
+    source ~/catkin_ws/devel/setup.bash
+    roslaunch diffdrive_cam_bot main.launch
diff --git a/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/CMakeLists.txt b/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(diffdrive_cam_bot)
+
+## 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 COMPONENTS)
+
+find_package(gazebo REQUIRED)
+
+catkin_package()
+
+include_directories(${GAZEBO_INCLUDE_DIRS})
+
+add_library(personplugin plugins/person.cc)
+
+target_link_libraries(personplugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
+
+install(TARGETS personplugin
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(DIRECTORY
+  models
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+
+
+
diff --git a/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/README b/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/README
@@ -0,0 +1,5 @@
+roslaunch diffdrive_cam_bot main.launch
+
+rostopic pub -1 /cmd_vel geometry_msgs/Twist -- '[0.2, 0.0, 0.0]' '[0.0, 0.0, 0.1]'
+
+in Gazebo 9, you can click on "View" and then activate "Collisions" to see the robot.
diff --git a/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/build.sh b/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/build.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+mkdir build
+export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$PWD/build
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$PWD/models
+cd build
+rm -rf *
+cmake ../
+make
+cd ~/catkin_ws
+catkin build diffdrive_cam_bot
+cd -
diff --git a/...a/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/launch/follow_person.launch b/...a/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/launch/follow_person.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<launch>
+    <rosparam command="load" file="$(find follow_person)/config/sim.conf" />
+
+    <arg name="world" default="$(find follow_person)/worlds/follow_person.world"/>
+
+    <include file="$(find drone_wrapper)/launch/mavros_px4_sitl.launch">
+        <arg name="world" value="$(arg world)"/>
+        <arg name="Y" value="1.57"/>
+    </include>
+
+    <!-- Image Post-processed-->
+    <arg name="image_yolo" default="/brain/yolo_output/image_raw"/>
+    <arg name="image_cmd" default="/brain/cmd_response/image_raw"/>
+
+<!--
+    <node name="image_view_yolo" pkg="image_view" type="image_view">
+        <remap from="image" to="$(arg image_yolo)"/>
+    </node>
+    <node name="image_view_cmd" pkg="image_view" type="image_view">
+        <remap from="image" to="$(arg image_cmd)"/>
+    </node>
+-->
+
+    <arg name="perspective" default="$(find follow_person)/perspectives/follow_person.perspective"/>
+    <node name="rqt_gui" pkg="rqt_gui" type="rqt_gui" respawn="false" output="screen" args="--perspective-file $(arg perspective)"/>
+</launch>
diff --git a/...GA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/launch/follow_person_turtlebot.launch b/...GA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/launch/follow_person_turtlebot.launch
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+    <!--<rosparam command="load" file="$(find follow_person)/config/sim.conf" />-->
+
+    <arg name="world" default="$(find diffdrive_cam_bot)/worlds/follow_person.world"/>
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+      <arg name="world_name" value="$(arg world)"/>
+      <arg name="paused" value="false"/>
+      <arg name="use_sim_time" value="true"/>
+      <arg name="gui" value="true"/>
+      <arg name="recording" value="false"/>
+      <arg name="debug" value="false"/>
+    </include>
+    <include file="$(find turtlebot2_urdf_model)/launch/spawn_robot.launch">
+    </include>
+
+    <!-- Image Post-processed-->
+    <arg name="image_yolo" default="/brain/yolo_output/image_raw"/>
+    <arg name="image_cmd" default="/brain/cmd_response/image_raw"/>
+
+<!--
+    <node name="image_view_yolo" pkg="image_view" type="image_view">
+        <remap from="image" to="$(arg image_yolo)"/>
+    </node>
+    <node name="image_view_cmd" pkg="image_view" type="image_view">
+        <remap from="image" to="$(arg image_cmd)"/>
+    </node>
+-->
+    <?ignore
+    <arg name="perspective" default="$(find follow_person)/perspectives/follow_person.perspective"/>
+    <node name="rqt_gui" pkg="rqt_gui" type="rqt_gui" respawn="false" output="screen" args="--perspective-file $(arg perspective)"/>
+    ?>
+
+</launch>
diff --git a/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/launch/main.launch b/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/launch/main.launch
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<launch>
+    <!--<rosparam command="load" file="$(find follow_person)/config/sim.conf" />-->
+
+      <!--<arg name="world_name" value="$(arg world)"/>-->
+      <arg name="paused" value="false"/>
+      <arg name="use_sim_time" value="true"/>
+      <arg name="gui" value="true"/>
+      <arg name="headless" default="false"/>
+      <arg name="debug" value="false"/>
+
+	  <env name="GAZEBO_MODEL_PATH" value="$(find diffdrive_cam_bot)/models:$(optenv GAZEBO_MODEL_PATH)"/>
+	  <env name="GAZEBO_RESOURCE_PATH" value="$(find diffdrive_cam_bot)/worlds:$(optenv GAZEBO_RESOURCE_PATH)"/>    
+
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="$(find diffdrive_cam_bot)/worlds/follow_person.world"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="headless" value="$(arg headless)"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+    <include file="$(find turtlebot2_urdf_model)/launch/spawn_robot.launch">
+    </include>
+
+    <!-- Image Post-processed-->
+    <arg name="image_yolo" default="/brain/yolo_output/image_raw"/>
+    <arg name="image_cmd" default="/brain/cmd_response/image_raw"/>
+
+<!--
+    <node name="image_view_yolo" pkg="image_view" type="image_view">
+        <remap from="image" to="$(arg image_yolo)"/>
+    </node>
+    <node name="image_view_cmd" pkg="image_view" type="image_view">
+        <remap from="image" to="$(arg image_cmd)"/>
+    </node>
+-->
+    <?ignore
+    <arg name="perspective" default="$(find follow_person)/perspectives/follow_person.perspective"/>
+    <node name="rqt_gui" pkg="rqt_gui" type="rqt_gui" respawn="false" output="screen" args="--perspective-file $(arg perspective)"/>
+    ?>
+
+</launch>
+
+
diff --git a/...a/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/models/RedBall/model.config b/...a/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/models/RedBall/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>RedBall</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/...fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/models/RedBall/model.sdf b/...fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/diffdrive_cam_bot/models/RedBall/model.sdf
@@ -0,0 +1,130 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='RedBall'>
+    <link name='link_0'>
+      <inertial>
+        <mass>3979.35</mass>
+        <inertia>
+          <ixx>397.935</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>397.935</iyy>
+          <iyz>0</iyz>
+          <izz>397.935</izz>
+        </inertia>
+        <pose>0 0 0 0 -0 0</pose>
+      </inertial>
+      <pose>0 0 0 0 -0 0</pose>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <enable_wind>0</enable_wind>
+      <visual name='visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.5</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Red</name>
+          </script>
+          <shader type='pixel'>
+            <normal_map>__default__</normal_map>
+          </shader>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1 0 0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <visual name='ModelPreview_0::link_0::visual_1'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.5</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Red</name>
+          </script>
+          <shader type='pixel'>
+            <normal_map>__default__</normal_map>
+          </shader>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1 0 0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>0</max_contacts>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.75</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <plugin name="personplugin" filename="libpersonplugin.so"/>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>