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Gazebo ignition rosbot xl namespaces #40

Merged
merged 12 commits into from
Jan 30, 2024
Merged

Gazebo ignition rosbot xl namespaces #40

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e15f64c
added namespaces for astra rplidar
delihus Dec 27, 2023
ca75c0f
Merge remote-tracking branch 'origin/ros2' into gazebo-ignition-multi…
delihus Dec 27, 2023
24f1d57
added namespace gazebo to other rplidars
delihus Dec 27, 2023
f7106c1
Merge remote-tracking branch 'origin/ros2' into gazebo-ignition-multi…
delihus Jan 4, 2024
578d574
realsense | added namespaces | changed topic of depth
delihus Jan 15, 2024
8188a43
intel | remapped topics from api
delihus Jan 15, 2024
ee12e81
Merge remote-tracking branch 'origin/ros2' into gazebo-ignition-rosbo…
delihus Jan 15, 2024
6ce7197
changed astra plugin | changed names of sensors for astra and realsense
delihus Jan 15, 2024
c42e933
Added namespace to zed
delihus Jan 15, 2024
8bccb40
Fixed <ros> tag in s3 | added namespace to velodyne puck
delihus Jan 15, 2024
52c6c9e
Use only zed as camera name
delihus Jan 29, 2024
93fb219
Suggestions
rafal-gorecki Jan 29, 2024
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23 changes: 19 additions & 4 deletions urdf/intel_realsense_d435.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,16 @@
name:=camera
topic:=camera
use_nominal_extrinsics:=false
namespace:=None
simulation_engine:=ignition-gazebo">

<xacro:if value="${namespace == 'None'}">
<xacro:property name="ns" value="" />
</xacro:if>
<xacro:unless value="${namespace == 'None'}">
<xacro:property name="ns" value="${namespace}/" />
</xacro:unless>

<xacro:if value="${tf_prefix == 'None'}">
<xacro:property name="prefix" value="" />
</xacro:if>
Expand Down Expand Up @@ -176,11 +184,12 @@
<!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth camera
should be more accurate for D435 - different frames and fovs can be set -->
<gazebo reference="${prefix}${name}_link">
<sensor type="camera" name="${prefix}${name}_color">
<!-- https://github.com/IntelRealSense/realsense-ros#published-topics -->
<sensor type="camera" name="${ns}{prefix}${name}_intel_realsense_d435_color">
<always_on>true</always_on>
<update_rate>30.0</update_rate>

<topic>${topic}/color/image_raw</topic>
<topic>${ns}${topic}/color/image_raw</topic>
<visualize>false</visualize>

<ignition_frame_id>${prefix}${name}_color_optical_frame</ignition_frame_id>
Expand All @@ -194,13 +203,16 @@
<near>0.02</near>
<far>300.0</far>
</clip>
<ros>
<namespace>${ns}</namespace>
</ros>
</sensor>

<sensor type="depth_camera" name="${prefix}${name}_depth">
<sensor type="depth_camera" name="${ns}${prefix}${name}_intel_realsense_d435_depth">
<always_on>true</always_on>
<update_rate>30.0</update_rate>

<topic>${topic}/depth</topic>
<topic>${ns}${topic}/depth/image_rect_raw</topic>
<visualize>false</visualize>

<ignition_frame_id>${prefix}${name}_depth_optical_frame</ignition_frame_id>
Expand All @@ -221,6 +233,9 @@
<stddev>0.005</stddev>
</noise>
</camera>
<ros>
<namespace>${ns}</namespace>
</ros>
</sensor>
</gazebo>
</xacro:if>
Expand Down
43 changes: 36 additions & 7 deletions urdf/orbbec_astra.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -94,16 +94,40 @@

<xacro:if value="${simulation_engine == 'ignition-gazebo'}">
<gazebo reference="${prefix}${camera_name}_orbbec_astra_link">
<sensor type="rgbd_camera" name="${prefix}${camera_name}_orbbec_astra_camera">
<!-- https://github.com/orbbec/OrbbecSDK_ROS2#all-available-topics -->
<sensor type="camera" name="${ns}{prefix}${camera_name}_orbbec_astra_color">
<always_on>true</always_on>
<update_rate>20.0</update_rate>
<update_rate>30.0</update_rate>

<topic>${ns}${camera_name}/color/image_raw</topic>
<visualize>false</visualize>

<ignition_frame_id>${prefix}${camera_name}_color_optical_frame</ignition_frame_id>
<horizontal_fov>${60.0/180.0*pi}</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>

<clip>
<near>0.6</near>
<far>8.0</far>
</clip>
<ros>
<namespace>${ns}</namespace>
</ros>
</sensor>

<topic>${ns}${camera_name}</topic>
<!-- It is not possible to split the frame of the color and the depth stream.
The frame of color stream should be ${prefix}${camera_name}_color_optical_frame -->
<ignition_frame_id>${prefix}${camera_name}_depth_optical_frame</ignition_frame_id>
<sensor type="depth_camera" name="${ns}${prefix}${camera_name}_orbbec_astra_depth">
<always_on>true</always_on>
<update_rate>10.0</update_rate>

<camera name="${prefix}camera">

<topic>${ns}${camera_name}/depth/image_raw</topic>
<visualize>false</visualize>

<ignition_frame_id>${prefix}${camera_name}_depth_optical_frame</ignition_frame_id>
<camera>
<horizontal_fov>${60.0/180.0*pi}</horizontal_fov>
<image>
<width>640</width>
Expand All @@ -114,6 +138,11 @@
<near>0.6</near>
<far>8.0</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.005</stddev>
</noise>
</camera>
<ros>
<namespace>${ns}</namespace>
Expand Down
6 changes: 3 additions & 3 deletions urdf/slamtec_rplidar_s3.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -112,10 +112,10 @@
</ray>
<always_on>1</always_on>
<visualize>false</visualize>
<ros>
<namespace>${ns}</namespace>
</ros>
</sensor>
<ros>
<namespace>${ns}</namespace>
</ros>
</gazebo>
</xacro:if>

Expand Down
28 changes: 20 additions & 8 deletions urdf/stereolabs_zed.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -22,12 +22,18 @@
<xacro:macro name="zed_camera"
params="parent_link xyz rpy
model:=zed
namespace:=None
tf_prefix:=None
name:=camera
topic:=camera
use_nominal_extrinsics:=false
simulation_engine:=ignition-gazebo">

<xacro:if value="${namespace == 'None'}">
<xacro:property name="ns" value="" />
</xacro:if>
<xacro:unless value="${namespace == 'None'}">
<xacro:property name="ns" value="${namespace}/" />
</xacro:unless>

<xacro:if value="${tf_prefix == 'None'}">
<xacro:property name="prefix" value="" />
</xacro:if>
Expand Down Expand Up @@ -85,10 +91,10 @@
</xacro:if>

<!-- Camera mounting point (the threaded screw hole in the bottom) -->
<link name="${prefix}${name}_link" />
<link name="${prefix}${name}_camera_link" />
<joint name="${prefix}${name}_base_joint" type="fixed">
<parent link="${parent_link}" />
<child link="${prefix}${name}_link" />
<child link="${prefix}${name}_camera_link" />
<origin xyz="${xyz}" rpy="${rpy}" />
</joint>

Expand Down Expand Up @@ -183,11 +189,11 @@
camera
should be more accurate different frames and fovs can be set -->
<gazebo reference="${prefix}${name}_center_optical_frame">
<sensor type="camera" name="${prefix}${name}_color">
<sensor type="camera" name="${ns}${prefix}${name}_stereolabs_zed_color">
<always_on>true</always_on>
<update_rate>30.0</update_rate>

<topic>${model}/zed_node/rgb/image_rect_color</topic>
<topic>${ns}${prefix}${name}/zed_node/rgb/image_rect_color</topic>
<visualize>false</visualize>

<ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
Expand All @@ -203,13 +209,16 @@
<far>300.0</far>
</clip>
</camera>
<ros>
<namespace>${ns}</namespace>
</ros>
</sensor>

<sensor type="depth_camera" name="${prefix}${name}_depth">
<sensor type="depth_camera" name="${ns}${prefix}${name}_stereolabs_zed_depth">
<always_on>true</always_on>
<update_rate>30.0</update_rate>

<topic>${model}/zed_node/depth</topic>
<topic>${ns}${prefix}${name}/zed_node/depth</topic>
<visualize>false</visualize>

<ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
Expand All @@ -229,6 +238,9 @@
<stddev>0.03</stddev>
</noise>
</camera>
<ros>
<namespace>${ns}</namespace>
</ros>
</sensor>
</gazebo>
</xacro:if>
Expand Down
20 changes: 13 additions & 7 deletions urdf/velodyne_puck.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,16 @@
tf_prefix:=None
topic:=scan
frame_id:=velodyne
namespace:=None
simulation_engine:=gazebo-classic">

<xacro:if value="${namespace == 'None'}">
<xacro:property name="ns" value="" />
</xacro:if>
<xacro:unless value="${namespace == 'None'}">
<xacro:property name="ns" value="${namespace}/" />
</xacro:unless>

<xacro:if value="${use_gpu}">
<xacro:property name="ray_type" value="gpu_ray" />
<xacro:property name="plugin_file_name" value="libgazebo_ros_velodyne_gpu_laser.so" />
Expand Down Expand Up @@ -64,7 +72,7 @@
<link name="${prefix}${frame_id}" />

<gazebo reference="${prefix}${frame_id}">
<sensor type="${ray_type}" name="${prefix}velodyne_puck_sensor">
<sensor type="${ray_type}" name="${ns}${prefix}velodyne_puck_sensor">
<visualize>false</visualize>
<update_rate>10.0</update_rate>

Expand Down Expand Up @@ -96,14 +104,10 @@
</ray>

<xacro:if value="${simulation_engine == 'ignition-gazebo'}">
<topic>${topic}</topic>
<topic>${ns}${topic}</topic>
<frame_id>${prefix}${frame_id}</frame_id>
<ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
<always_on>true</always_on>
<plugin filename="libignition-gazebo-sensors-system.so"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
</xacro:if>

<xacro:if value="${simulation_engine == 'gazebo-classic'}">
Expand All @@ -117,7 +121,9 @@
<frame_name>${prefix}${frame_id}</frame_name>
</plugin>
</xacro:if>

<ros>
<namespace>${ns}</namespace>
</ros>
</sensor>
</gazebo>
</xacro:macro>
Expand Down
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