Merge pull request #45 from husarion/suggestions

Suggestions
husarion · May 10, 2024 · 20e6ae3 · 20e6ae3
2 parents 0589e91 + 46c887f
commit 20e6ae3
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diff --git a/.github/workflows/colcon_test_build.yaml b/.github/workflows/colcon_test_build.yaml
@@ -7,13 +7,10 @@ jobs:
   colcon-test-build-ubuntu-22-04:
     strategy:
       matrix:
-        build-type: [ignition-gazebo, gazebo-classic]
         ros-distro: [humble]
-    env:
-      GAZEBO_VERSION: ${{ matrix.build-type }}
     runs-on: ubuntu-22.04
 
-    name: ${{ matrix.ros-distro }}
+    name: Build ${{ matrix.ros-distro }}
     steps:
       - uses: ros-tooling/[email protected]
         with:

diff --git a/README.md b/README.md
@@ -15,12 +15,6 @@ git clone https://github.com/husarion/ros_components_description.git src/ros_com
 # in case the package will be used within simulation
 export HUSARION_ROS_BUILD_TYPE=simulation
 
-# to specify which simulation engine will be used
-# for gazebo classic
-export SIMULATION_ENGINE=gazebo-classic
-# for ignition gazebo
-export SIMULATION_ENGINE=ignition-gazebo
-
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
 colcon build
@@ -36,22 +30,17 @@ To include the sensor, use the following code:
 <xacro:lidar.slamtec_rplidar_s1
   parent_link="cover_link"
   xyz="0.0 0.0 0.0"
-  rpy="0.0 0.0 0.0"
-  use_gpu="true"
-  simulation_engine="gazebo-classic" />
+  rpy="0.0 0.0 0.0" />
 ```
 
 A list of parameters can be found here:
 
 - `parent_link` [*string*, default: **None**] parent link to which sensor should be attached.
 - `xyz` [*float list*, default: **None**] 3 float values defining translation between base of a sensor and parent link. Values in **m**.
 - `rpy` [*float list*, default: **None**] 3 float values define rotation between parent link and base of a sensor. Values in **rad**.
-- `tf_prefix` [*string*, optional] tf prefix applied before all links created by sensor. If defined, applies `<tf_prefix>_<sensor_name>`. If not defined, leaves `<sensor_name>` intact. Applies also to `frame_id` parameter.
-- `topic` [*string*, default: **same as manufacturer's default**] name of topic at which simulated sensor will publish data.
-- `frame_id` [*string*, default: **same as manufacturer's default**] name of final tf to which sensor will be attached. Should match one from message published by sensor.
-- `use_gpu` [*bool*, default: **false**] enable GPU acceleration for sensor. Available only if sensor can be accelerated.
-- `simulation_engine` [*string*, default: **gazebo-classic**] selected for which simulation engine plugins should be loaded. Currently the only supported:
-  - **gazebo-classic** used to select [Gazebo Classic](https://classic.gazebosim.org/).
-  - **ignition-gazebo** used to select [Ignition Gazebo](https://gazebosim.org/home).
+- `namespace` [*string*, default: **None**] global namespace common to the entire robot.
+- `device_namespace` [*string*, default: **None**] local namespace allowing to distinguish two identical devices from each other.
+
+- `model` [*string*, default: **None**] model argument that appears when you want to load the appropriate model from a given manufacturer.
 
 Some sensors can define their specific parameters. Refer to their definition for more info.
diff --git a/package.xml b/package.xml
@@ -21,26 +21,11 @@
   <depend>urdf</depend>
   <depend>xacro</depend>
 
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == gazebo-classic)">
-    gazebo_plugins
-  </depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    ros_gz_sim
-  </depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    ros_gz_bridge
-  </depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    launch
-  </depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    nav2_common
-  </depend>
-
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_sim</depend>
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_bridge</depend>
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch</depend>
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">nav2_common</depend>
+
   <test_depend>ament_index_python</test_depend>
   <test_depend>ament_python_pytest</test_depend>
   <test_depend>python-yaml</test_depend>

diff --git a/test/component.urdf.xacro b/test/component.urdf.xacro
@@ -10,8 +10,6 @@
 
     <xacro:husarion_components.create_components
       components_config_path="${components_config_path_property}"
-      use_gpu="True"
-      simulation_engine="ignition-gazebo"
       namespace="None"
     />
   </xacro:unless>

diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
@@ -20,12 +20,9 @@
 <robot name="intel_realsense_d435" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="intel_realsense_d435"
     params="parent_link xyz rpy
-            tf_prefix:=None
-            name:=camera
-            topic:=camera
             use_nominal_extrinsics:=false
             namespace:=None
-            simulation_engine:=ignition-gazebo">
+            device_namespace:=camera">
 
     <xacro:if value="${namespace == 'None'}">
       <xacro:property name="ns" value="" />
@@ -34,13 +31,6 @@
         <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
-    <xacro:if value="${tf_prefix == 'None'}">
-      <xacro:property name="prefix" value="" />
-    </xacro:if>
-    <xacro:unless value="${tf_prefix == 'None'}">
-      <xacro:property name="prefix" value="${tf_prefix}_" />
-    </xacro:unless>
-
     <!-- The following values are approximate, and the camera node
       publishing TF values with actual calibrated camera extrinsic values -->
     <xacro:property name="d435_cam_depth_to_infra1_offset" value="0.0" />
@@ -70,22 +60,22 @@
     <xacro:property name="d435_cam_depth_pz" value="${d435_cam_height/2}" />
 
     <!-- camera body, with origin at bottom screw mount -->
-    <joint name="${parent_link.rstrip('_link')}_to_${prefix}${name}_bottom_screw_joint" type="fixed">
+    <joint name="${parent_link.rstrip('_link')}_to_${device_namespace}_bottom_screw_joint" type="fixed">
       <origin xyz="${xyz}" rpy="${rpy}" />
       <parent link="${parent_link}" />
-      <child link="${prefix}${name}_bottom_screw_frame" />
+      <child link="${device_namespace}_bottom_screw_frame" />
     </joint>
 
-    <link name="${prefix}${name}_bottom_screw_frame" />
+    <link name="${device_namespace}_bottom_screw_frame" />
 
-    <joint name="${prefix}${name}_bottom_screw_to_${prefix}${name}_joint" type="fixed">
+    <joint name="${device_namespace}_bottom_screw_to_${device_namespace}_joint" type="fixed">
       <origin xyz="${d435_mesh_x_offset} ${d435_cam_depth_py} ${d435_cam_depth_pz}"
         rpy="0.0 0.0 0.0" />
-      <parent link="${prefix}${name}_bottom_screw_frame" />
-      <child link="${prefix}${name}_link" />
+      <parent link="${device_namespace}_bottom_screw_frame" />
+      <child link="${device_namespace}_link" />
     </joint>
 
-    <link name="${prefix}${name}_link">
+    <link name="${device_namespace}_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
@@ -112,132 +102,130 @@
       published. e.g. running the device in simulation  -->
     <xacro:if value="${use_nominal_extrinsics}">
       <!-- camera depth joints and links -->
-      <joint name="${prefix}${name}_to_${prefix}${name}_depth_joint" type="fixed">
+      <joint name="${device_namespace}_to_${device_namespace}_depth_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${prefix}${name}_link" />
-        <child link="${prefix}${name}_depth_frame" />
+        <parent link="${device_namespace}_link" />
+        <child link="${device_namespace}_depth_frame" />
       </joint>
 
-      <link name="${prefix}${name}_depth_frame" />
+      <link name="${device_namespace}_depth_frame" />
 
-      <joint name="${prefix}${name}_depth_to_${prefix}${name}_depth_optical_joint" type="fixed">
+      <joint name="${device_namespace}_depth_to_${device_namespace}_depth_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${prefix}${name}_depth_frame" />
-        <child link="${prefix}${name}_depth_optical_frame" />
+        <parent link="${device_namespace}_depth_frame" />
+        <child link="${device_namespace}_depth_optical_frame" />
       </joint>
 
-      <link name="${prefix}${name}_depth_optical_frame" />
+      <link name="${device_namespace}_depth_optical_frame" />
 
       <!-- camera left IR joints and links -->
-      <joint name="${prefix}${name}_to_${prefix}${name}_infra1_joint" type="fixed">
+      <joint name="${device_namespace}_to_${device_namespace}_infra1_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_infra1_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${prefix}${name}_link" />
-        <child link="${prefix}${name}_infra1_frame" />
+        <parent link="${device_namespace}_link" />
+        <child link="${device_namespace}_infra1_frame" />
       </joint>
 
-      <link name="${prefix}${name}_infra1_frame" />
+      <link name="${device_namespace}_infra1_frame" />
 
-      <joint name="${prefix}${name}_infra1_to_${prefix}${name}_infra1_optical_joint" type="fixed">
+      <joint name="${device_namespace}_infra1_to_${device_namespace}_infra1_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${prefix}${name}_infra1_frame" />
-        <child link="${prefix}${name}_infra1_optical_frame" />
+        <parent link="${device_namespace}_infra1_frame" />
+        <child link="${device_namespace}_infra1_optical_frame" />
       </joint>
 
-      <link name="${prefix}${name}_infra1_optical_frame" />
+      <link name="${device_namespace}_infra1_optical_frame" />
 
       <!-- camera right IR joints and links -->
-      <joint name="${prefix}${name}_to_${prefix}${name}_infra2_joint" type="fixed">
+      <joint name="${device_namespace}_to_${device_namespace}_infra2_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_infra2_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${prefix}${name}_link" />
-        <child link="${prefix}${name}_infra2_frame" />
+        <parent link="${device_namespace}_link" />
+        <child link="${device_namespace}_infra2_frame" />
       </joint>
 
-      <link name="${prefix}${name}_infra2_frame" />
+      <link name="${device_namespace}_infra2_frame" />
 
-      <joint name="${prefix}${name}_infra2_to_${prefix}${name}_infra2_optical_joint" type="fixed">
+      <joint name="${device_namespace}_infra2_to_${device_namespace}_infra2_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${prefix}${name}_infra2_frame" />
-        <child link="${prefix}${name}_infra2_optical_frame" />
+        <parent link="${device_namespace}_infra2_frame" />
+        <child link="${device_namespace}_infra2_optical_frame" />
       </joint>
 
-      <link name="${prefix}${name}_infra2_optical_frame" />
+      <link name="${device_namespace}_infra2_optical_frame" />
 
       <!-- camera color joints and links -->
-      <joint name="${prefix}${name}_to_${prefix}${name}_color_joint" type="fixed">
+      <joint name="${device_namespace}_to_${device_namespace}_color_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_color_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${prefix}${name}_link" />
-        <child link="${prefix}${name}_color_frame" />
+        <parent link="${device_namespace}_link" />
+        <child link="${device_namespace}_color_frame" />
       </joint>
 
-      <link name="${prefix}${name}_color_frame" />
+      <link name="${device_namespace}_color_frame" />
 
-      <joint name="${prefix}${name}_color_to_${prefix}${name}_color_optical_joint" type="fixed">
+      <joint name="${device_namespace}_color_to_${device_namespace}_color_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${prefix}${name}_color_frame" />
-        <child link="${prefix}${name}_color_optical_frame" />
+        <parent link="${device_namespace}_color_frame" />
+        <child link="${device_namespace}_color_optical_frame" />
       </joint>
 
-      <link name="${prefix}${name}_color_optical_frame" />
+      <link name="${device_namespace}_color_optical_frame" />
     </xacro:if>
 
-    <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
-      <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth camera
-        should be more accurate for D435 - different frames and fovs can be set -->
-      <gazebo reference="${prefix}${name}_link">
-        <!-- https://github.com/IntelRealSense/realsense-ros#published-topics -->
-        <sensor type="camera" name="${ns}${prefix}${name}_intel_realsense_d435_color">
-          <always_on>true</always_on>
-          <update_rate>30.0</update_rate>
-
-          <topic>${ns}${topic}/color/image_raw</topic>
-          <visualize>false</visualize>
-
-          <ignition_frame_id>${prefix}${name}_color_optical_frame</ignition_frame_id>
-          <horizontal_fov>${69.0/180.0*pi}</horizontal_fov>
+    <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth camera
+      should be more accurate for D435 - different frames and fovs can be set -->
+    <gazebo reference="${device_namespace}_link">
+      <!-- https://github.com/IntelRealSense/realsense-ros#published-topics -->
+      <sensor type="camera" name="${ns}${device_namespace}_intel_realsense_d435_color">
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+
+        <topic>${ns}${device_namespace}/color/image_raw</topic>
+        <visualize>false</visualize>
+
+        <ignition_frame_id>${device_namespace}_color_optical_frame</ignition_frame_id>
+        <horizontal_fov>${69.0/180.0*pi}</horizontal_fov>
+        <image>
+          <width>1280</width>
+          <height>720</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300.0</far>
+        </clip>
+        <ros>
+          <namespace>${ns}${device_namespace}</namespace>
+        </ros>
+      </sensor>
+
+      <sensor type="depth_camera" name="${ns}${device_namespace}_intel_realsense_d435_depth">
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+
+        <topic>${ns}${device_namespace}/depth/image_rect_raw</topic>
+        <visualize>false</visualize>
+
+        <ignition_frame_id>${device_namespace}_depth_optical_frame</ignition_frame_id>
+        <camera>
+          <horizontal_fov>${87.0/180.0*pi}</horizontal_fov>
           <image>
             <width>1280</width>
             <height>720</height>
-            <format>R8G8B8</format>
+            <format>R_FLOAT32</format>
           </image>
           <clip>
-            <near>0.02</near>
-            <far>300.0</far>
+            <near>0.28</near>
+            <far>8.0</far>
           </clip>
-          <ros>
-            <namespace>${ns}</namespace>
-          </ros>
-        </sensor>
-
-        <sensor type="depth_camera" name="${ns}${prefix}${name}_intel_realsense_d435_depth">
-          <always_on>true</always_on>
-          <update_rate>30.0</update_rate>
-
-          <topic>${ns}${topic}/depth/image_rect_raw</topic>
-          <visualize>false</visualize>
-
-          <ignition_frame_id>${prefix}${name}_depth_optical_frame</ignition_frame_id>
-          <camera>
-            <horizontal_fov>${87.0/180.0*pi}</horizontal_fov>
-            <image>
-              <width>1280</width>
-              <height>720</height>
-              <format>R_FLOAT32</format>
-            </image>
-            <clip>
-              <near>0.28</near>
-              <far>8.0</far>
-            </clip>
-            <noise>
-              <type>gaussian</type>
-              <mean>0.0</mean>
-              <stddev>0.005</stddev>
-            </noise>
-          </camera>
-          <ros>
-            <namespace>${ns}</namespace>
-          </ros>
-        </sensor>
-      </gazebo>
-    </xacro:if>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.005</stddev>
+          </noise>
+        </camera>
+        <ros>
+          <namespace>${ns}${device_namespace}</namespace>
+        </ros>
+      </sensor>
+    </gazebo>
   </xacro:macro>
 </robot>
diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
@@ -2,8 +2,8 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="orbbec_astra"
                params="parent_link xyz rpy
-                       device_namespace:=camera
-                       namespace:=None">
+                       namespace:=None
+                       device_namespace:=camera">
 
     <xacro:if value="${namespace == 'None'}">
       <xacro:property name="ns" value="" />
@@ -143,7 +143,7 @@
           </noise>
         </camera>
         <ros>
-          <namespace>${ns}</namespace>
+          <namespace>${ns}${device_namespace}</namespace>
         </ros>
       </sensor>
     </gazebo>