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[WIP][description] Add headmount ueye cameras for Gazebo simulation. #9

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[WIP][description] Add headmount ueye cameras for Gazebo simulation. #9

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fdb221f
[ros_bridge] Fix a launch file name to appropriately indicate "older …
130s May 16, 2017
7e526b6
Merge pull request #328 from 130s/impr/266_launchname
130s May 18, 2017
c342fc9
[ros_bridge][rviz.launch] Remove elements redundant to its parent lau…
130s May 17, 2017
f94c785
[gazebo] Cleanup CMakeLists.txt, package.xml.
130s May 18, 2017
e876da0
[gazebo] Add headmount cameras.
130s May 18, 2017
ab85287
[gazebo] Remove a redundant model file that was added by mistake in h…
130s May 18, 2017
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38 changes: 38 additions & 0 deletions nextage_description/urdf/nxo_gz.xacro
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<?xml version="1.0"?>
<robot name="NextageOpenGz"
xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find nextage_description)/urdf/NextageOpen.urdf" />
<xacro:include filename="$(find nextage_description)/urdf/nxo_gz_camera.xacro" />

<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:property name="jnt_head_camera_displacement_x" value="0.0175" />
<xacro:property name="jnt_head_camera_displacement_y" value="0.0725" />
<xacro:property name="jnt_head_camera_displacement_z" value="0.105" />
<xacro:property name="jnt_head_camera_rot_y" value="0.25" />
<xacro:property name="link_head_camera_rot_z" value="0.05" />

<!-- NOTE: The poses of headmount cameras are NOT precisely adjusted to
the 3D model nor the actual hardware config. These configs
are meant for a rapid prototyping only. If you need precise
configuration, please go ahead modify the following, then
(if possible) send a patch to https://github.com/tork-a/rtmros_nextage/pulls
so that other developers and users can use (and possible improve).
-->
<xacro:camera_joint_link_gzplugin
camera_name="L_HEADMOUNT_CAMERA" link_parent="HEAD_JOINT1_Link"
jnt_displacement_x="${jnt_head_camera_displacement_x}" jnt_displacement_y="${jnt_head_camera_displacement_y}" jnt_displacement_z="${jnt_head_camera_displacement_z}"
jnt_rotation_x="0" jnt_rotation_y="${jnt_head_camera_rot_y}" jnt_rotation_z="0"
link_displacement_x="0.0325" link_displacement_y="0" link_displacement_z="0"
link_rotation_x="0" link_rotation_y="${M_PI/2}" link_rotation_z="-${link_head_camera_rot_z}" />

<xacro:camera_joint_link_gzplugin
camera_name="R_HEADMOUNT_CAMERA" link_parent="HEAD_JOINT1_Link"
jnt_displacement_x="${jnt_head_camera_displacement_x}" jnt_displacement_y="-${jnt_head_camera_displacement_y}" jnt_displacement_z="${jnt_head_camera_displacement_z}"
jnt_rotation_x="0" jnt_rotation_y="${jnt_head_camera_rot_y}" jnt_rotation_z="0"
link_displacement_x="0.0325" link_displacement_y="0" link_displacement_z="0"
link_rotation_x="0" link_rotation_y="${M_PI/2}" link_rotation_z="${link_head_camera_rot_z}" />

<!-- TODO hand cameras can be added here with the very similar code as
headmount cameras. -->
</robot>
77 changes: 77 additions & 0 deletions nextage_description/urdf/nxo_gz_camera.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.1415926535897931" />

<!-- Immitate two head-mount cameras, each of which are not stereo camera
by themselves but are made to function as stereo by launch file https://github.com/tork-a/rtmros_nextage/blob/indigo-devel/nextage_ros_bridge/launch/nextage_ueye_stereo.launch
Values in Gazebo plugin are originally copied from http://gazebosim.org/tutorials?tut=ros_gzplugins#camera
and only partially tailored as of May 2017 -->

<!-- Adding camera for simulation -->
<xacro:macro name="camera_joint_link_gzplugin"
params="camera_name link_parent jnt_displacement_x jnt_displacement_y jnt_displacement_z jnt_rotation_x jnt_rotation_y jnt_rotation_z link_displacement_x link_displacement_y link_displacement_z link_rotation_x link_rotation_y link_rotation_z">
<joint name="${camera_name}" type="fixed">
<origin
xyz="${jnt_displacement_x} ${jnt_displacement_y} ${jnt_displacement_z}"
rpy="${jnt_rotation_x} ${jnt_rotation_y} ${jnt_rotation_z}" />
<parent link="${link_parent}" />
<child link="${camera_name}_Link" />
</joint>
<link name="${camera_name}_Link">
<visual>
<origin
xyz="${link_displacement_x} ${link_displacement_y} ${link_displacement_z}"
rpy="${link_rotation_x} ${link_rotation_y} ${link_rotation_z}" />
<geometry>
<cylinder length="0.01" radius="0.015" />
</geometry>
<material name="blue" />
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0"
izz="1.0" />
</inertial>
</link>
<gazebo reference="${camera_name}_Link">
<sensor type="camera" name="${camera_name}">
<update_rate>30.0</update_rate>
<camera name="${camera_name}">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>30</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame. That pixel's
noise value is added to each of its color channels, which at that point lie
in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>${camera_name}</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${camera_name}_Link_frame</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>
106 changes: 4 additions & 102 deletions nextage_gazebo/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(nextage_gazebo)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
gazebo_ros
gazebo_ros_control
nextage_description
rostest
)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES nextage_gazebo
# CATKIN_DEPENDS gazebo_ros gazebo_ros_control nextage_description
# DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(nextage_gazebo
# src/${PROJECT_NAME}/nextage_gazebo.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(nextage_gazebo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
# add_executable(nextage_gazebo_node src/nextage_gazebo_node.cpp)

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(nextage_gazebo_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(nextage_gazebo_node
# ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
install(PROGRAMS
scripts/go_initial.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables and/or libraries for installation
# install(TARGETS nextage_gazebo nextage_gazebo_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY config launch model test
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_nextage_gazebo.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

add_rostest(test/gz.test) # important to have one gz.test files, becuase running gazebo parallely makes trouble on port settings

if (CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED COMPONENTS rostest)
add_rostest(test/gz.test) # important to have one gz.test files, becuase running gazebo parallely makes trouble on port settings
endif()
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