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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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merged 6 commits into from
Oct 27, 2023
Merged

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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ca4774e
カメラを設定して画像トピックを配信
YusukeKato Oct 25, 2023
c8110f9
use_rgb_cameraがtrueのときcamera_linkをセットする
YusukeKato Oct 26, 2023
94d4db3
camera_linkのテストを追加
YusukeKato Oct 26, 2023
45a2bd5
画像トピックの解像度をD435に合わせる
YusukeKato Oct 26, 2023
425c43a
RGBカメラのxacroファイルを作成
YusukeKato Oct 27, 2023
dc288b7
xacroファイル中の重複しているif文をひとまとめにする
YusukeKato Oct 27, 2023
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10 changes: 10 additions & 0 deletions test/test_robot_description_loader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -98,3 +98,13 @@ def test_use_rgb_camera():
rdl.gz_control_config_package = 'raspimouse_description'
rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml'
assert 'realsense2_description/meshes/d435.dae' in exec_load(rdl)


def test_camera_link():
# use_gazeboとuse_rgb_cameraが変更され、xacroにcamera linkがセットされることを期待
rdl = RobotDescriptionLoader()
rdl.use_gazebo = 'true'
rdl.use_rgb_camera = 'true'
rdl.gz_control_config_package = 'raspimouse_description'
rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml'
assert 'camera_link' in exec_load(rdl)
16 changes: 4 additions & 12 deletions urdf/raspimouse.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
<xacro:include filename="$(find raspimouse_description)/urdf/wheel/diffdrive.gazebo_ros2_control.xacro" />
<xacro:include filename="$(find raspimouse_description)/urdf/sensors/lightsens.urdf.xacro" />
<xacro:include filename="$(find raspimouse_description)/urdf/sensors/lidar.urdf.xacro" />
<xacro:include filename="$(find raspimouse_description)/urdf/sensors/rgb_camera.xacro" />

<!-- =============== Link & Joint =============== -->
<!-- Base -->
Expand Down Expand Up @@ -98,19 +99,10 @@
</xacro:lidar_rp_sensor>
</xacro:if>

<!-- RGB Camera -->
<xacro:if value="$(arg use_rgb_camera)">
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
<xacro:sensor_d435
parent="base_link"
use_nominal_extrinsics="false"
add_plug="false"
use_mesh="true">
<origin xyz="0.08 0.0 0.055" rpy="0 0 0"/>
</xacro:sensor_d435>
</xacro:if>

<!-- =============== Gazebo =============== -->
<xacro:rgb_camera_settings
use_gazebo="$(arg use_gazebo)"
use_rgb_camera="$(arg use_rgb_camera)" />

<xacro:if value="$(arg use_gazebo)">
<xacro:gazebo_diffdrive_settings
Expand Down
55 changes: 55 additions & 0 deletions urdf/sensors/rgb_camera.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,55 @@
<?xml version="1.0"?>
<robot name="rgb_camera" xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:include filename="$(find raspimouse_description)/urdf/common.xacro" />

<xacro:macro name="rgb_camera_settings"
params="use_gazebo
use_rgb_camera
">

<xacro:if value="$(arg use_rgb_camera)">
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
<xacro:sensor_d435
parent="base_link"
use_nominal_extrinsics="false"
add_plug="false"
use_mesh="true">
<origin xyz="0.08 0.0 0.055" rpy="0 0 0"/>
</xacro:sensor_d435>
</xacro:if>

<gazebo>
<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>

<gazebo reference="camera_link">
<xacro:if value="${use_gazebo}">
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個別にifを付けずに、ひとまとめにしてください。（1行減らせます）

<sensor name="camera_link" type="camera">
<update_rate>30.0</update_rate>
<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>
<camera name="rgb_camera">
<horizontal_fov>1.20428</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
</sensor>
</xacro:if>
</gazebo>
</xacro:macro>

</robot>
1 change: 1 addition & 0 deletions urdf/wheel/diffdrive.gazebo.xacro
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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>

Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
</plugin>
</xacro:if>
</gazebo>

</xacro:macro>

</robot>