[gazebo] Add headmount cameras.#330
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A testcase using I suspected that moveit_config might have to be updated once URDF is changed (reference), but then locally the same testcase runs fine (as following, slightly modified to remove unittest-specific code) without updating moveit_config. |
hz requirement for Gazebo sensor plugin on Travis CI needs to be generous. There's a known issue about Gazebo's sensor frequency https://bitbucket.org/osrf/gazebo/pull-requests/2502/make-sure-cameras-fps-is-strictly-applied/diff and with the lack of GPU or higher CPU, the sensor output is significantly slow on Travis CI.
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Locally running then I don't see the warning message on the CI in #330 (comment) are printed. And the robot on Gazebo (and on RViz) seem to be moving synchronized using |
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NEXTAGE Open by default comes with IDS Ueye cameras, emulator of which is not available on Gazebo simulator. Instead the standard camera implementation on Gazebo is used.
Camera link in this PR uses a cylindrical object. As you may see in the wireframe above, short cylinders are "embedded" in the eye cameras.
NOTE: The poses of headmount cameras and the camera's physical parameters are NOT at all precisely adjusted to the 3D model nor the actual hardware spec. These configs are meant for a rapid prototyping only. If you need precise configuration, please go ahead modify, 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).
Ignoring the precision, adding hand cameras should be easy using the same
xacroin this PR.FYI @y-yosuke
I had no idea if there's even a way to adjust the emulated headmount camera component to the actual setting (available in VRML, Collada, and of course URDF). If anyone can share how to do so that'll be appreciated.