Merge pull request #8 from LCAS/sim_fix

adjusted simulated camera and laser parameters
LCAS · Nov 21, 2023 · c6acf0e · c6acf0e
2 parents f9af7f7 + 0fb93aa
commit c6acf0e
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Showing 2 changed files with 12 additions and 14 deletions.
diff --git a/src/limo_description/urdf/limo_four_diff.gazebo b/src/limo_description/urdf/limo_four_diff.gazebo
@@ -101,10 +101,12 @@
             <ray>
                 <scan>
                     <horizontal>
-                        <samples>375</samples> <!-- 0.96 deg @ 8Hz so 360/0.96=375 samples -->
+                        <samples>292</samples> <!-- to cover 4 rad @ 0.7826 deg -->
+                        <!-- 0.96 deg @ 8Hz so 360/0.96=375 samples -->
+                        <!-- real sensor: 460 samples @0.78260869565 deg -->
                         <resolution>1.000000</resolution>
-                        <min_angle>-3.14159</min_angle>
-                        <max_angle>3.14159</max_angle>
+                        <min_angle>-2.0</min_angle>
+                        <max_angle>2.0</max_angle>
                     </horizontal>
                 </scan>
                 <range>
@@ -192,18 +194,15 @@
     </gazebo>
     <gazebo reference="depth_camera_link">
         <sensor name="sensor_camera" type="depth">
-            <!-- <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> -->
             <always_on>0</always_on>
             <update_rate>1</update_rate>
             <camera name="limo_camera">
-                <!-- <distortion>
-                    <k1>0.1</k1>
-                    <k2>0.2</k2>
-                    <k3>0.3</k3>
-                    <p1>0.4</p1>
-                    <p2>0.5</p2>
-                    <center>0.5 0.5</center>
-                </distortion> -->
+                <horizontal_fov>1.3962634</horizontal_fov>
+                <image>
+                    <width>640</width>
+                    <height>480</height>
+                    <format>R8G8B8</format>
+                </image>
             </camera>
 
             <plugin name="gazebo_ros_depth_camera_sensor" filename="libgazebo_ros_camera.so">
@@ -216,7 +215,7 @@
                     <remapping>limo_camera/points:=limo_camera/camera_points</remapping>
                 </ros>
                 <camera_name>depth_camera_link</camera_name>
-                <frame_name>depth_camera_link</frame_name>
+                <frame_name>depth_link</frame_name>
                 <hack_baseline>0.07</hack_baseline>
                 <min_depth>0.001</min_depth>
 

diff --git a/src/limo_description/urdf/limo_gazebo.gazebo b/src/limo_description/urdf/limo_gazebo.gazebo
@@ -98,7 +98,6 @@
               <depthImageCameraInfoTopicName>/limo/depth/camera_info</depthImageCameraInfoTopicName>
               <pointCloudTopicName>/limo/depth/points</pointCloudTopicName>
               <frameName>depth_link</frameName>
-              <cameraname>depth_camera_link</cameraname>
 
               <pointCloudCutoff>0.5</pointCloudCutoff>
               <pointCloudCutoffMax>3.0</pointCloudCutoffMax>