Unverified Commit eb869bad authored by Simon Thomas's avatar Simon Thomas
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Initial commit

parent a933d756
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......@@ -29,49 +29,75 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="kinect_camera">
<xacro:macro name="kinect_camera" params="prefix:=camera robot_namespace:=/">
<xacro:arg name="cams_enabled" default="false" />
<xacro:arg name="depth_enabled" default="true" />
<xacro:macro name="kinect_camera" params="prefix:=zed robot_namespace:=/">
<!-- Create kinect reference frame -->
<!-- Add mesh for kinect -->
<!-- Add mesh for zed -->
<link name="${prefix}_link">
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0 "/>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI/2}"/>
<origin xyz="0 0 0" rpy="-1.5708 3.14 -1.5708"/>
<geometry>
<mesh filename="package://husky_description/meshes/accessories/kinect.dae" />
<mesh filename="package://husky_description/meshes/accessories/ZED.dae" />
</geometry>
</visual>
<collision>
<geometry>
<box size="0.07 0.3 0.09"/>
<box size="0.175 0.033 0.03"/>
</geometry>
</collision>
</link>
<joint name="${prefix}_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}_link"/>
<child link="${prefix}_depth_optical"/>
</joint>
<joint name="${prefix}_cam1_joint" type="fixed">
<origin xyz="0 -0.06 0" rpy="0 0 0"/>
<parent link="${prefix}_link"/>
<child link="${prefix}_cam1_optical"/>
</joint>
<joint name="${prefix}_cam2_joint" type="fixed">
<origin xyz="0 0.06 0" rpy="0 0 0"/>
<parent link="${prefix}_link"/>
<child link="${prefix}_cam2_optical"/>
</joint>
<joint name="${prefix}_frame_joint" type="fixed">
<origin xyz="0 0.06 0" rpy="-1.5708 0 -1.5708"/>
<parent link="${prefix}_link"/>
<child link="${prefix}_frame_optical"/>
</joint>
<link name="${prefix}_depth_optical"/>
<link name="${prefix}_cam1_optical"/>
<link name="${prefix}_cam2_optical"/>
<link name="${prefix}_frame_optical"/>
<gazebo reference="${prefix}_link">
<sensor type="depth" name="${prefix}">
<xacro:if value="$(arg depth_enabled)">
<gazebo reference="${prefix}_depth_optical">
<sensor type="depth" name="${prefix}_depth">
<always_on>true</always_on>
<update_rate>20.0</update_rate>
<update_rate>1.0</update_rate>
<camera>
<horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
<horizontal_fov>${90.0*M_PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
<near>0.30</near>
<far>20</far>
</clip>
</camera>
<plugin name="kinect_${prefix}_controller" filename="libgazebo_ros_openni_kinect.so">
<plugin name="zed_${prefix}_controller" filename="libgazebo_ros_depth_camera.so">
<cameraName>${prefix}</cameraName>
<alwaysOn>true</alwaysOn>
<updateRate>10</updateRate>
......@@ -81,16 +107,64 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<frameName>${prefix}_frame_optical</frameName>
<baseline>0.1</baseline>
<distortion_k1>0.0</distortion_k1>
<distortion_k2>0.0</distortion_k2>
<distortion_k3>0.0</distortion_k3>
<distortion_t1>0.0</distortion_t1>
<distortion_t2>0.0</distortion_t2>
<pointCloudCutoff>0.4</pointCloudCutoff>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>25</pointCloudCutoffMax>
<robotNamespace>${robot_namespace}</robotNamespace>
</plugin>
</sensor>
</gazebo>
</xacro:if>
<xacro:if value="$(arg cams_enabled)">
<gazebo reference="${prefix}_cam1_optical">
<sensor type="camera" name="cam1">
<always_on>true</always_on>
<update_rate>20.0</update_rate>
<camera>
<horizontal_fov>${90.0*M_PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.30</near>
<far>20</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<cameraName>${prefix}_cam1</cameraName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="${prefix}_cam2_optical">
<sensor type="camera" name="cam2">
<always_on>true</always_on>
<update_rate>20.0</update_rate>
<camera>
<horizontal_fov>${90.0*M_PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.30</near>
<far>20</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<cameraName>${prefix}_cam2</cameraName>
</plugin>
</sensor>
</gazebo>
</xacro:if>
</xacro:macro>
</robot>
......@@ -31,7 +31,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:arg name="kinect_enabled" default="false" />
<xacro:arg name="kinect_xyz" default="$(optenv HUSKY_KINECT_XYZ 0 0 0)" />
<xacro:arg name="kinect_rpy" default="$(optenv HUSKY_KINECT_RPY 0 0.18 3.14)" />
<xacro:arg name="kinect_rpy" default="$(optenv HUSKY_KINECT_RPY 0 0 0)" />
<xacro:property name="husky_front_bumper_extend" value="$(optenv HUSKY_FRONT_BUMPER_EXTEND 0)" />
<xacro:property name="husky_rear_bumper_extend" value="$(optenv HUSKY_REAR_BUMPER_EXTEND 0)" />
......@@ -44,8 +44,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:include filename="$(find husky_description)/urdf/wheel.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/accessories/kinect_camera.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/sick_lms1xx_mount.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/sensor_arch.urdf.xacro"/>
<!--xacro:include filename="$(find husky_description)/urdf/accessories/sensor_arch.urdf.xacro"/-->
<xacro:property name="M_PI" value="3.14159"/>
......@@ -138,26 +137,21 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:if value="$(arg laser_enabled)">
<sick_lms1xx_mount prefix="base"/>
<sick_lms1xx frame="base_laser" topic="scan" robot_namespace="$(arg robot_namespace)"/>
<joint name="laser_mount_joint" type="fixed">
<origin xyz="$(arg laser_xyz)" rpy="$(arg laser_rpy)" />
<parent link="top_plate_link" />
<child link="base_laser_mount" />
</joint>
<xacro:include filename="$(find robosense_description)/urdf/RS-16.urdf.xacro"/>
<RS-16 parent="base_link" name="robosense" topic="/rs_points" hz="20" samples="900" gpu="true">
<origin xyz="0 0 0.4" rpy="0 0 0" />
</RS-16>
</xacro:if>
<xacro:if value="$(arg kinect_enabled)">
<xacro:sensor_arch prefix="" parent="top_plate_link">
<!--xacro:sensor_arch prefix="" parent="top_plate_front_link">
<origin xyz="-0.35 0 0.51" rpy="0 0 -3.14"/>
</xacro:sensor_arch>
</xacro:sensor_arch-->
<joint name="kinect_frame_joint" type="fixed">
<origin xyz="$(arg kinect_xyz)" rpy="$(arg kinect_rpy)" />
<parent link="sensor_arch_mount_link"/>
<parent link="top_plate_front_link"/>
<child link="camera_link"/>
</joint>
......@@ -171,7 +165,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</gazebo>
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<plugin name="imu_controller" filename="libgazebo_ros_imu.so">
<robotNamespace>$(arg robot_namespace)</robotNamespace>
<updateRate>50.0</updateRate>
<bodyName>base_link</bodyName>
......@@ -202,6 +196,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</gazebo>
<!-- Optional custom includes. -->
<xacro:include filename="$(arg urdf_extras)" />
<!--xacro:include filename="$(arg urdf_extras)" /-->
</robot>
......@@ -28,7 +28,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<arg name="world_name" default="worlds/empty.world"/>
<arg name="laser_enabled" default="true"/>
<arg name="kinect_enabled" default="false"/>
<arg name="kinect_enabled" default="true"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
......
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