add ZED urdf + list of choices

.gitignore

@@ -9,4 +9,5 @@ dev_utils/
 build/
 install/
 log/
-__pycache__/
+__pycache__/
+.pre-commit-config.yaml

README.md

@@ -6,7 +6,7 @@ ROS2 packages for ROSbot XL
 
 ### `rosbot_xl`
 
-Metapackeage that contains dependencies to other repositories. It is also used to define whether simulation dependencies should be used. 
+Metapackeage that contains dependencies to other repositories. It is also used to define whether simulation dependencies should be used.
 
 ### `rosbot_xl_bringup`
 
@@ -42,17 +42,15 @@ To run the software on real ROSbot XL, also communication with Digital Board wil
 First update your firmware to make sure that you use the latest version, then run the `micro-ROS` agent.
 For detailed instructions refer to the [rosbot_xl_firmware repository](https://github.com/husarion/rosbot_xl_firmware).
 
-## Source build
+## Prepare environment
 
-### Prerequisites
-
-Install `colcon`, `vsc` and `rosdep`:
+1. **Install `colcon`, `vsc` and `rosdep`**
 ```
 sudo apt-get update
 sudo apt-get install -y python3-colcon-common-extensions python3-vcstool python3-rosdep
 ```
 
-Create workspace folder and clone `rosbot_xl_ros` repository:
+2. **Create workspace folder and clone `rosbot_xl_ros` repository:**
 ```
 mkdir -p ros2_ws/src
 cd ros2_ws
@@ -61,7 +59,7 @@ git clone https://github.com/husarion/rosbot_xl_ros src/
 
 ### Build and run on hardware
 
-Building:
+1. **Building**
 ```
 export HUSARION_ROS_BUILD=hardware
 
@@ -77,19 +75,18 @@ rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
 colcon build
 ```
 
-> **Prerequisites**
-> 
-> Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent (as described in the *Usage on hardware* step).
+> [!NOTE]
+> Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent as described in the [Usage on hardware](#usage-on-hardware) step.
 
-Running:
+2. **Running**
 ```
 source install/setup.bash
 ros2 launch rosbot_xl_bringup bringup.launch.py
 ```
 
 ### Build and run Gazebo simulation
 
-Building:
+1. **Building**
 ```
 export HUSARION_ROS_BUILD=simulation
 
@@ -104,7 +101,7 @@ rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
 colcon build
 ```
 
-Running:
+2. **Running**
 ```
 source install/setup.bash
 ros2 launch rosbot_xl_gazebo simulation.launch.py

rosbot_xl_bringup/launch/bringup.launch.py

@@ -25,14 +25,14 @@ def generate_launch_description():
     declare_lidar_model_arg = DeclareLaunchArgument(
         "lidar_model",
         default_value="slamtec_rplidar_s1",
-        description="Lidar model added to the URDF",
+        description="Add LiDAR model to the robot URDF",
     )
 
     camera_model = LaunchConfiguration("camera_model")
     declare_camera_model_arg = DeclareLaunchArgument(
         "camera_model",
         default_value="None",
-        description="Camera model added to the URDF",
+        description="Add camera model to the robot URDF",
     )
 
     include_camera_mount = LaunchConfiguration("include_camera_mount")
@@ -115,4 +115,4 @@ def generate_launch_description():
         laser_filter_node,
     ]
 
-    return LaunchDescription(actions)
+    return LaunchDescription(actions)

rosbot_xl_controller/launch/controller.launch.py

@@ -43,14 +43,31 @@ def generate_launch_description():
     declare_lidar_model_arg = DeclareLaunchArgument(
         "lidar_model",
         default_value="slamtec_rplidar_s1",
-        description="Lidar model added to the URDF",
+        description="Add LiDAR model to the robot URDF",
+        choices=[
+            "None",
+            "slamtec_rplidar_s1",
+            "slamtec_rplidar_a2",
+            "slamtec_rplidar_a3",
+            "velodyne_puck",
+        ],
     )
 
     camera_model = LaunchConfiguration("camera_model")
     declare_camera_model_arg = DeclareLaunchArgument(
         "camera_model",
         default_value="None",
-        description="Camera model added to the URDF",
+        description="Add camera model to the robot URDF",
+        choices=[
+            "None",
+            "intel_realsense_d435",
+            "stereolabs_zed",
+            "stereolabs_zedm",
+            "stereolabs_zed2",
+            "stereolabs_zed2i",
+            "stereolabs_zedx",
+            "stereolabs_zedxm",
+        ],
     )
 
     include_camera_mount = LaunchConfiguration("include_camera_mount")
@@ -218,4 +235,4 @@ def generate_launch_description():
         delay_imu_broadcaster_spawner_after_robot_controller_spawner,
     ]
 
-    return LaunchDescription(actions)
+    return LaunchDescription(actions)

rosbot_xl_description/urdf/rosbot_xl.urdf.xacro

@@ -3,7 +3,7 @@
 
   <xacro:arg name="mecanum" default="false" />
   <xacro:arg name="lidar_model" default="slamtec_rplidar_s1" />
-  <xacro:arg name="camera_model" default="None" />
+  <xacro:arg name="camera_model" default="stereolabs_zed2" />
   <xacro:arg name="include_camera_mount" default="false" />
   <xacro:arg name="use_sim" default="false" />
   <xacro:arg name="simulation_engine" default="ignition-gazebo" />
@@ -28,7 +28,7 @@
 
   <xacro:property name="lidar_model" value="$(arg lidar_model)" />
   <xacro:property name="lidar_parent_link" value="cover_link" />
-  <xacro:property name="lidar_xyz" value="0.0 0.0 0.0" />
+  <xacro:property name="lidar_xyz" value="0.02 0.0 0.0" />
   <xacro:property name="lidar_rpy" value="0.0 0.0 0.0" />
   <xacro:property name="lidar_use_gpu" value="true" />
   <!-- use_gpu has to be set to true, CPU lidar doesn't work in ignition -
@@ -102,10 +102,44 @@
       simulation_engine="$(arg simulation_engine)" />
   </xacro:if>
 
-  <!-- INCLUDE CAMERA MOUNT -->
+  <xacro:if value="${camera_model.startswith('stereolabs')}">
+    <xacro:if value="${camera_model == 'stereolabs_zed'}">
+      <xacro:property name="camera_model_type" value="zed" />
+    </xacro:if>
+    <xacro:if value="${camera_model == 'stereolabs_zedm'}">
+      <xacro:property name="camera_model_type" value="zedm" />
+    </xacro:if>
+    <xacro:if value="${camera_model == 'stereolabs_zed2'}">
+      <xacro:property name="camera_model_type" value="zed2" />
+    </xacro:if>
+    <xacro:if value="${camera_model == 'stereolabs_zed2i'}">
+      <xacro:property name="camera_model_type" value="zed2i" />
+    </xacro:if>
+    <xacro:if value="${camera_model == 'stereolabs_zedx'}">
+      <xacro:property name="camera_model_type" value="zedx" />
+    </xacro:if>
+    <xacro:if value="${camera_model == 'stereolabs_zedxm'}">
+      <xacro:property name="camera_model_type" value="zedxm" />
+    </xacro:if>
+
+    <xacro:include
+    filename="$(find ros_components_description)/urdf/stereolabs_zed.urdf.xacro"
+    ns="camera" />
+    <xacro:camera.zed_camera
+      parent_link="${camera_parent_link}"
+      xyz="${camera_xyz}"
+      rpy="${camera_rpy}"
+      model="${camera_model_type}"
+      name="camera"
+      topic="camera"
+      use_nominal_extrinsics="$(arg use_sim)"
+      simulation_engine="$(arg simulation_engine)" />
+  </xacro:if>
+
+  <!-- INCLUDE CAMERA MOUNT - add if camera_model is not empty -->
 
   <xacro:property name="include_camera_mount" value="$(arg include_camera_mount)" />
-  <xacro:if value="${include_camera_mount or camera_model == 'intel_realsense_d435'}">
+  <xacro:if value="${include_camera_mount or camera_model != ''}">
     <xacro:include filename="$(find rosbot_xl_description)/urdf/components/camera_mount.urdf.xacro"
       ns="camera_mount" />
     <xacro:camera_mount.camera_mount
@@ -116,4 +150,4 @@
       camera_mount_angle_2="0.0" />
   </xacro:if>
 
-</robot>
+</robot>

rosbot_xl_gazebo/launch/simulation.launch.py

@@ -28,14 +28,14 @@ def generate_launch_description():
     declare_lidar_model_arg = DeclareLaunchArgument(
         "lidar_model",
         default_value="slamtec_rplidar_s1",
-        description="Lidar model added to the URDF",
+        description="Add LiDAR model to the robot URDF",
     )
 
     camera_model = LaunchConfiguration("camera_model")
     declare_camera_model_arg = DeclareLaunchArgument(
         "camera_model",
-        default_value="None",
-        description="Camera model added to the URDF",
+        default_value="intel_realsense_d435",
+        description="Add camera model to the robot URDF model",
     )
 
     include_camera_mount = LaunchConfiguration("include_camera_mount")
@@ -89,24 +89,14 @@ def generate_launch_description():
         executable="parameter_bridge",
         name="ign_bridge",
         arguments=[
-            "/clock" + "@rosgraph_msgs/msg/Clock" + "[ignition.msgs.Clock",
-            "/scan" + "@sensor_msgs/msg/LaserScan" + "[ignition.msgs.LaserScan",
-            "/velodyne_points/points"
-            + "@sensor_msgs/msg/PointCloud2"
-            + "[ignition.msgs.PointCloudPacked",
-            "/camera/color/camera_info"
-            + "@sensor_msgs/msg/CameraInfo"
-            + "[ignition.msgs.CameraInfo",
-            "/camera/color/image_raw"
-            + "@sensor_msgs/msg/Image"
-            + "[ignition.msgs.Image",
-            "/camera/camera_info"
-            + "@sensor_msgs/msg/CameraInfo"
-            + "[ignition.msgs.CameraInfo",
-            "/camera/depth" + "@sensor_msgs/msg/Image" + "[ignition.msgs.Image",
-            "/camera/depth/points"
-            + "@sensor_msgs/msg/PointCloud2"
-            + "[ignition.msgs.PointCloudPacked",
+            "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
+            "/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan",
+            "/velodyne_points/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked",
+            "/camera/color/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
+            "/camera/color/image_raw@sensor_msgs/msg/Image[ignition.msgs.Image",
+            "/camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
+            "/camera/depth@sensor_msgs/msg/Image[ignition.msgs.Image",
+            "/camera/depth/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked",
         ],
         remappings=[
             ("/velodyne_points/points", "/velodyne_points"),