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stretch_ros
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Make realsense parametric

pull/42/head
Vatan Aksoy Tezer 3 years ago
parent
af41bb3e0b
commit
f282e89dca
2 changed files with 129 additions and 126 deletions
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  1. +2
    -2
      stretch_gazebo/launch/gazebo.launch
  2. +127
    -124
      stretch_gazebo/urdf/stretch_gazebo.urdf.xacro

+ 2
- 2
stretch_gazebo/launch/gazebo.launch View File

@ -9,7 +9,7 @@
<arg name="model" default="$(find stretch_gazebo)/urdf/stretch_gazebo.urdf.xacro"/>
<arg name="gpu_lidar" default="false"/>
<arg name="visualize_lidar" default="false"/>
<arg name="world" default="worlds/empty.world"/>
<arg name="realsense" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)" />
@ -21,7 +21,7 @@
<arg name="verbose" value="true"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro $(arg model) gpu_lidar:=$(arg gpu_lidar) visualize_lidar:=$(arg visualize_lidar)" />
<param name="robot_description" command="$(find xacro)/xacro $(arg model) gpu_lidar:=$(arg gpu_lidar) visualize_lidar:=$(arg visualize_lidar) realsense:=$(arg realsense)" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"

+ 127
- 124
stretch_gazebo/urdf/stretch_gazebo.urdf.xacro View File

@ -2,6 +2,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
<xacro:arg name="gpu_lidar" default="false" />
<xacro:arg name="visualize_lidar" default="false" />
<xacro:arg name="realsense" default="false" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_main.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_aruco.xacro" />
@ -70,130 +71,132 @@
<!-- Sensors -->
<!-- Realsense D435i -->
<gazebo reference="camera_color_frame">
<sensor name="color" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_infra1_frame">
<sensor name="ired1" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_infra2_frame">
<sensor name="ired2" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_depth_frame">
<sensor name="depth" type="depth">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo>
<plugin name="camera" filename="librealsense_gazebo_plugin.so">
<depthUpdateRate>30</depthUpdateRate>
<colorUpdateRate>30</colorUpdateRate>
<infraredUpdateRate>30</infraredUpdateRate>
<depthTopicName>depth/image_raw</depthTopicName>
<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>color/image_raw</colorTopicName>
<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>infrared/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>infrared/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>infrared2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>infrared2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
<depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
<infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
<infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
<rangeMinDepth>0.1</rangeMinDepth>
<rangeMaxDepth>10</rangeMaxDepth>
<pointCloud>1</pointCloud>
<pointCloudTopicName>depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.15</pointCloudCutoff>
<pointCloudCutoffMax>10</pointCloudCutoffMax>
</plugin>
</gazebo>
<xacro:if value="$(arg realsense)">
<gazebo reference="camera_color_frame">
<sensor name="color" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_infra1_frame">
<sensor name="ired1" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_infra2_frame">
<sensor name="ired2" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_depth_frame">
<sensor name="depth" type="depth">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo>
<plugin name="camera" filename="librealsense_gazebo_plugin.so">
<depthUpdateRate>30</depthUpdateRate>
<colorUpdateRate>30</colorUpdateRate>
<infraredUpdateRate>30</infraredUpdateRate>
<depthTopicName>depth/image_raw</depthTopicName>
<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>color/image_raw</colorTopicName>
<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>infrared/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>infrared/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>infrared2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>infrared2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
<depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
<infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
<infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
<rangeMinDepth>0.1</rangeMinDepth>
<rangeMaxDepth>10</rangeMaxDepth>
<pointCloud>1</pointCloud>
<pointCloudTopicName>depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.15</pointCloudCutoff>
<pointCloudCutoffMax>10</pointCloudCutoffMax>
</plugin>
</gazebo>
</xacro:if>
<gazebo reference="camera_gyro_frame">
<gravity>true</gravity>

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