Merge pull request 'gazebo' (#11) from gazebo into master

Reviewed-on: https://kitsunehosting.net/gitea/Kenwood/lewis-crawler/pulls/11

.gitignore

@@ -9,3 +9,4 @@ __pycache__
 *.png
 *.jpg
 *.wav
+*.pdf

README.md

@@ -5,3 +5,11 @@ git clone <url>
 cd lewis-crawler/crawler_software/raspberry_pi
 make install?
 ```
+
+# Getting started with the CAD
+
+```
+git clone https://kitsunehosting.net/gitea/Kenwood/lewis-crawler
+git checkout crawler-cad
+```
+find cad under `lewis-crawler/crawler-cad`

Simulation/Lewis_Crawler/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+    <name>Lewis_Crawler</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Joe Sedutto</name>
+        <email>kenwood364@gmail.com</email>
+    </author>
+    <description></description>
+</model>

Simulation/Lewis_Crawler/model.sdf

@@ -0,0 +1,109 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='Lewis_Crawler'>
+
+    <link name='chassis'>
+
+      <pose>-0.1524 -0.1 0.0508 0 0 0</pose>
+
+      <visual name='visual'>
+        <pose>0 0 0 0 0 0</pose>
+
+        <geometry>
+          <mesh>
+            <uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <shader type='pixel' />
+        </material>
+
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 0 -0 0</pose>
+
+        <geometry>
+          <mesh>
+            <uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+
+      </collision>
+
+    </link>
+
+    <link name="port_wheel">
+      <pose>0.1524 0 0.1016 0 1.5707 0</pose>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="starboard_wheel">
+      <pose>-0.1524 0 0.1016 0 1.5707 0</pose>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint type="port_wheel" name="port_wheel_axle">
+      <pose>0 0 -0.03 0 0 0</pose>
+      <child>left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <joint type="starboard_wheel" name="starboard_wheel_axle">
+      <pose>0 0 0.03 0 0 0</pose>
+      <child>right_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>

Simulation/Meshes/LCFrame.dae

@@ -0,0 +1,106 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor/>
+    <created>2022-03-11T12:26:21.628371</created>
+    <modified>2022-03-11T12:26:21.628375</modified>
+    <unit name="meter" meter="1.0"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="effect_Body" name="effect_Body">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.0 0.0 0.0 1.0</color>
+            </emission>
+            <ambient>
+              <color>0.0 0.0 0.0 1.0</color>
+            </ambient>
+            <diffuse>
+              <color>0.800000011920929 0.800000011920929 0.800000011920929 1.0</color>
+            </diffuse>
+            <specular>
+              <color>1 1 1 1.0</color>
+            </specular>
+            <shininess>
+              <float>0.0</float>
+            </shininess>
+            <reflective>
+              <color>0.0 0.0 0.0 1.0</color>
+            </reflective>
+            <reflectivity>
+              <float>0.0</float>
+            </reflectivity>
+            <transparent>
+              <color>0.0 0.0 0.0 1.0</color>
+            </transparent>
+            <transparency>
+              <float>1.0</float>
+            </transparency>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>0</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material id="mat_Body" name="Body">
+      <instance_effect url="#effect_Body"/>
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="myscene">
+      <node id="node0" name="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ref_Body" target="#mat_Body"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene"/>
+  </scene>
+</COLLADA>

Software/arduino/crawler_slave/Makefile

@@ -0,0 +1,70 @@
+### DISCLAIMER
+### This is an example Makefile and it MUST be configured to suit your needs.
+### For detailed explanations about all the available options,
+### please refer to https://github.com/sudar/Arduino-Makefile/blob/master/arduino-mk-vars.md
+
+### PROJECT_DIR
+### This is the path to where you have created/cloned your project
+PROJECT_DIR       = $(shell dirname $(shell pwd))
+
+### ARDMK_DIR
+### Path to the Arduino-Makefile directory.
+ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+
+### ARDUINO_DIR
+### Path to the Arduino application and resources directory.
+ARDUINO_DIR       = /usr/share/arduino
+
+### USER_LIB_PATH
+### Path to where the your project's libraries are stored.
+USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+
+### BOARD_TAG & BOARD_SUB
+### For Arduino IDE 1.0.x
+### Only BOARD_TAG is needed. It must be set to the board you are currently using. (i.e uno, mega2560, etc.)
+# BOARD_TAG         = mega2560
+### For Arduino IDE 1.6.x
+### Both BOARD_TAG and BOARD_SUB are needed. They must be set to the board you are currently using. (i.e BOARD_TAG = uno, mega, etc. & BOARD_SUB = atmega2560, etc.)
+### Note: for the Arduino Uno, only BOARD_TAG is mandatory and BOARD_SUB can be equal to anything
+BOARD_TAG         = mega
+BOARD_SUB         = atmega2560
+
+### MONITOR_PORT
+### The port your board is connected to. Using an '*' tries all the ports and finds the right one. Choose one of the two.
+MONITOR_PORT      = /dev/ttyUSB*
+# MONITOR_PORT      = /dev/ttyACM*
+
+### MONITOR_BAUDRATE
+### It must be set to Serial baudrate value you are using.
+MONITOR_BAUDRATE  = 115200
+
+### AVR_TOOLS_DIR
+### Path to the AVR tools directory such as avr-gcc, avr-g++, etc.
+AVR_TOOLS_DIR     = /usr
+
+### AVRDUDE
+### Path to avrdude directory.
+AVRDUDE           = /usr/bin/avrdude
+
+### CFLAGS_STD
+CFLAGS_STD        = -std=gnu11
+
+### CXXFLAGS_STD
+### You can choose wich ever you like
+# CXXFLAGS_STD      = -std=gnu++11
+CXXFLAGS_STD      = -std=gnu++17
+
+
+### CPPFLAGS
+### Flags you might want to set for debugging purpose. Comment to stop.
+CXXFLAGS         += -pedantic -Wall -Wextra
+LDFLAGS          += -fdiagnostics-color
+
+### OBJDIR
+### Don't touch this!
+### This is were you put the binaries you just compile using 'make'
+CURRENT_DIR       = $(shell basename $(CURDIR))
+OBJDIR            = $(PROJECT_DIR)/build/$(CURRENT_DIR)/$(BOARD_TAG)
+
+### path to Arduino.mk, inside the ARDMK_DIR, don't touch.
+include $(ARDMK_DIR)/Arduino.mk