Gazebo上で画像トピックを配信できるように変更 #46
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ShotaAk
suggested changes
Oct 27, 2023
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カメラはdiff driveに関係しないので、urdf/sensorsに設定ファイル（rgb_camera.xacro）を作成してください。
#45
で追加したrealsenseの読み込みも移植してください。
rgb_camera.xacro
<realsenseの読み込み />
<xacro:if value="${use_gazebo}">
<センサプラグインの読み込み />
<カメラ設定の読み込み />
</xacro:if>
urdf/wheel/diffdrive.gazebo.xacro
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| <always_on>true</always_on> | ||
| <ignition_frame_id>camera_link</ignition_frame_id> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <topic>/camera/color/image_raw</topic> |
urdf/wheel/diffdrive.gazebo.xacro
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| <pose>0 0 0 0 0 0</pose> | ||
| <topic>/camera/color/image_raw</topic> | ||
| <camera name="rgb_camera"> | ||
| <horizontal_fov>1.3962634</horizontal_fov> |
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D435のRGB画像の水平FOVは69度なので、1.20428が適していると思います。
ShotaAk
suggested changes
Oct 27, 2023
urdf/raspimouse.urdf.xacro
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Comment on lines
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| <xacro:if value="$(arg use_gazebo)"> | ||
| <xacro:gazebo_diffdrive_settings | ||
| use_gazebo="$(arg use_gazebo)" |
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本PRとは関係ないですが、gazebo_diffdrive_settingsが実行時される時点で、
use_gazeboはTrueになるので、マクロにuse_gazebo引数は不要ですね。
urdf/sensors/rgb_camera.xacro
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| <xacro:if value="${use_gazebo}"> | ||
| <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
| </xacro:if> | ||
| </gazebo> | ||
|
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| <gazebo reference="camera_link"> | ||
| <xacro:if value="${use_gazebo}"> |
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What does this implement/fix?
use_gazeboとuse_rgb_cameraがtrueのとき、画像トピックが配信されるように変更します。
Does this close any currently open issues?
しません。
How has this been tested?
use_gazeboとuse_rgb_cameraがtrueのときにcamera_linkがセットされたか確認するテストを追加しました。
colcon testが通ることを確認しました。Any other comments?
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