Model Submission for CTU-CRAS-NORLAB MARV

submitted_models/ctu_cras_norlab_marv_sensor_config_1/.gitignore

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+model.sdf.urdf
+meshes/*.blend
+meshes/*.blend1

submitted_models/ctu_cras_norlab_marv_sensor_config_1/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(ctu_cras_norlab_marv_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY config launch meshes textures urdf worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  scripts/yaml_to_xacro_args
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)

submitted_models/ctu_cras_norlab_marv_sensor_config_1/README.md

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+# CTU\_CRAS\_NORLAB\_MARV\_SENSOR\_CONFIG\_1
+
+This package contains sensor config 1 of CTU-CRAS-Norlab MARV robot (Mobile Autonomous Rescue Vehicle). The robot has:
+
+- 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+- 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+- Ouster OS0-128 lidar
+- 4 TFMini plus point lidars
+- IMU Xsens MTI-30
+- Gas sensor
+- Weight: about 61 kg
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/marv.xacro` file and the files it includes. 
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf_ign`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+There is also script `scripts/update_robot_sdf_gz`, which creates a model.sdf file suitable for use in Gazebo Classic. This can be used to get its much better visualization functionality, i.e. viewing transparent model, wireframe, inertia, centers of gravity etc.
+
+The model is also configured by a set of shared config files located in `config/` directory. It contains YAML files which are loaded in the following order:
+
+- URDF: `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `common.yaml`, `sim.yaml`, `ign.yaml`
+- SDF for Gazebo Classic: `common.yaml`, `sim.yaml`, `gz.yaml`
+
+Other sensor configurations of MARV make use of the robot model defined here, but use customized configuration files to get the right sensor suite.

submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/common.yaml

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+# General configuration and dimensions of MARV
+
+# Geometry
+rover_bodyWidth: 0.3600
+rover_bodyLength: 0.6000
+rover_bodyHeight: 0.2360
+rover_bodyEdgeCurvature: 0.0440 # curvature of the front and rear bottom edges
+rover_topBoxWidth: 0.2700
+rover_topBoxLength: 0.1000
+rover_topBoxHeight: 0.1800
+rover_topBoxX: 0.06
+rover_topBoxLowerStepWidth: 0.0500
+rover_topBoxLowerStepHeight: 0.070
+rover_topBoxHigherStepWidth: 0.0300
+rover_topBoxHigherStepHeight: 0.1250
+rover_flipperLength: 0.4980
+rover_flipperWidth: 0.0750
+rover_flipperBigRadius: 0.1165
+rover_flipperSmallRadius: 0.0780
+rover_flipperBeltThickness: 0.0180
+rover_flipperBodyGap: 0.0305
+rover_flipperJointX: 0.2560 # w.r.t. referential frame
+rover_flipperJointZ: 0.0000 # w.r.t. referential frame
+rover_flipperBaseAngleOffset: 0.0000
+has_flippers: True
+bullet_antenna_height: 0.2
+bullet_antenna_radius: 0.01
+
+# Locomotion
+rover_maxTrackSpeed: 1.0  # m/s
+rover_maxTrackAcceleration: 3.0  # m/s^2
+rover_maxFlipperRotationVelocity: 1.0 # rad/s
+rover_maxFlipperRotationEffort: 120 # Nm
+
+# Payload
+has_ouster_lidar: True
+has_omnicam_vras: True
+has_boson_thermocam: False
+has_mote_deployer: False
+has_cliff_sensors: True
+
+# Mobilicom
+has_mobilicom: True
+mobilicom_antenna_l_rotation: -0.5
+mobilicom_antenna_l_tilt: 0.0
+mobilicom_antenna_r_rotation: 0.0
+mobilicom_antenna_r_tilt: 0
+mobilicom_antennas_length: 0.17
+mobilicom_has_antenna_box: False
+mobilicom_is_lite: True
+mobilicom_parent_link: rear_right_box
+mobilicom_pitch: 0
+mobilicom_roll: 0
+mobilicom_yaw: 1.570796327
+mobilicom_shift_x: 0.05
+mobilicom_shift_y: 0.3
+mobilicom_shift_z: 0.0
+
+# model workarounds
+flipper_inflation_ratio: 1.0
+flipper_inward_enlargement: 0.0
+big_collision_box_on_top: False
+big_collision_box_height: 0.4
+big_collision_box_width: 0.5
+big_collision_box_depth: 0.85

submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/gz.yaml

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+# Specifics for Gazebo Classic
+rendering_target: gz

submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/ign.yaml

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+# Specifics for Ignition Gazebo
+rendering_target: ign