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Model submission for Absolem sensor configurations 6,7,8 by CTU-CRAS-Norlab #860

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Merged
merged 26 commits into from
May 18, 2021
Merged

Model submission for Absolem sensor configurations 6,7,8 by CTU-CRAS-Norlab #860

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f830449
Absolem: Added sensor configs 6, 7 and 8.
peci1 Mar 31, 2021
d590542
remove ros from the x500 plugin (#891)
nkoenig Apr 14, 2021
84edcfd
Model Submission for Emesent Hovermap (#892)
acschang Apr 14, 2021
20ccaf2
Model Submission for CTU-CRAS-NORLAB MARV (#886)
acschang Apr 14, 2021
acd21f9
Model submission for BOSDYN_SPOT and two sensor configs of CTU-CRAS-N…
peci1 Apr 16, 2021
6287011
added feedforward to bridge, controller msgs are now printed only onc…
petrlmat Apr 16, 2021
a7d8b76
Set the state properly when recording is complete (#894)
nkoenig Apr 16, 2021
9ccdba7
Absolem: Remove debug visuals [SDF 1.6] (#878)
peci1 Apr 16, 2021
3bfb396
Add missing robot platform types (#890)
nkoenig Apr 16, 2021
8fa3d39
Fix CMakeLists (#897)
peci1 Apr 16, 2021
94abceb
Model Submission for CTU-CRAS-NORLAB Lily hexapod robot, sensor confi…
xpetresx Apr 19, 2021
25b51b0
Spot: Disable nodelets because of spurious broken bonds. (#898)
peci1 Apr 19, 2021
cf24e0f
Model Submission for Coordinated Robotics' Crystal UAV Sensor Config …
knoedler Apr 21, 2021
c6f1dea
Model Submission for Coordinated Robotics Rocky Sensor Configs 1, 2 a…
knoedler Apr 21, 2021
bc3b81b
Model Submission Coordinated Robotics Mike (#845)
knoedler Apr 22, 2021
8fa6b79
Move battery plugin to the end of plugin list (#901)
mjcarroll Apr 22, 2021
369557f
fixed pose of rs_up, rs_down rgbd cameras (#903)
petrlmat Apr 22, 2021
d60ef23
Update robot classes and marsupial pairs (#900)
nkoenig Apr 22, 2021
4ddfff2
Update to use the lattest fog emitter code (#896)
nkoenig Apr 22, 2021
cd57ca8
fixed fx, fy focal length of front camera to be consistent with hfov …
petrlmat Apr 26, 2021
f4ce7ca
add set_rate service to X500 UAV (#906)
petrlmat Apr 26, 2021
8dd0aa3
dot_generator tweaks for tunnels (#884)
caguero Apr 27, 2021
4a38d45
Absolem: Changed lidar and thermocam parameters, fixed RViz model.
peci1 May 1, 2021
6556bb5
Merge branch 'master' into submitted_models/ctu_cras_norlab_absolem_i…
peci1 May 1, 2021
9011cda
Merge branch 'submitted_models/ctu_cras_norlab_absolem_improved' into…
peci1 May 1, 2021
5583780
Absolem: Added Basler cameras intrinsics.
peci1 May 1, 2021
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96 changes: 66 additions & 30 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -9,6 +9,8 @@
<arg name="revision" default="2014" />
<arg name="has_cliff_sensors" default="0" />
<arg name="has_thermal_camera" default="0" />
<arg name="has_omnicam" default="1" />
<arg name="has_omnicam_vras" default="0" />

<include file="$(dirname)/description.launch" pass_all_args="true">
<arg name="print_command" value="$(arg description_print_command)" if="$(eval description_print_command != '')" />
Expand Down Expand Up @@ -111,41 +113,75 @@

<!-- Omnicamera -->

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_0" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0" />
<arg name="ros_topic" value="omni/camera_0" />
</include>
<group if="$(arg has_omnicam)">
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_0" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0" />
<arg name="ros_topic" value="omni/camera_0" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_1" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1" />
<arg name="ros_topic" value="omni/camera_1" />
</include>
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_1" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1" />
<arg name="ros_topic" value="omni/camera_1" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_2" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2" />
<arg name="ros_topic" value="omni/camera_2" />
</include>
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_2" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2" />
<arg name="ros_topic" value="omni/camera_2" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_3" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3" />
<arg name="ros_topic" value="omni/camera_3" />
</include>
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_3" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3" />
<arg name="ros_topic" value="omni/camera_3" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_4" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4" />
<arg name="ros_topic" value="omni/camera_4" />
</include>
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_4" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4" />
<arg name="ros_topic" value="omni/camera_4" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_5" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5" />
<arg name="ros_topic" value="omni/camera_5" />
</include>
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_5" />
<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5" />
<arg name="ros_topic" value="omni/camera_5" />
</include>
</group>

<group if="$(arg has_omnicam_vras)">
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_vras_front" />
<arg name="gazebo_topic" value="$(arg link_prefix)/camera_0/sensor/camera_0" />
<arg name="ros_topic" value="omni/camera_0" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_vras_right" />
<arg name="gazebo_topic" value="$(arg link_prefix)/camera_1/sensor/camera_1" />
<arg name="ros_topic" value="omni/camera_1" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_vras_rear" />
<arg name="gazebo_topic" value="$(arg link_prefix)/camera_2/sensor/camera_2" />
<arg name="ros_topic" value="omni/camera_2" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_vras_left" />
<arg name="gazebo_topic" value="$(arg link_prefix)/camera_3/sensor/camera_3" />
<arg name="ros_topic" value="omni/camera_3" />
</include>

<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
<arg name="node_name_suffix" value="omnicam_vras_up" />
<arg name="gazebo_topic" value="$(arg link_prefix)/camera_4/sensor/camera_4" />
<arg name="ros_topic" value="omni/camera_4" />
</include>
</group>

<!-- Thermal camera (if used) -->
<include if="$(arg has_thermal_camera)" file="$(find subt_ros)/launch/models_common/thermal_camera.launch">
Expand Down
96 changes: 96 additions & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae
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155 changes: 155 additions & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae
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111 changes: 111 additions & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro
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@@ -0,0 +1,111 @@
<?xml version="1.0"?>
<root xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Mass properties from datasheet -->
<xacro:property name="basler_ace_mass" value="0.09" scope="global" />
<xacro:property name="basler_ace2_pro_mass" value="0.105" scope="global" />
<xacro:property name="fisheye_lens_mass" value="0.05" scope="global" />
<xacro:property name="omnicam_lens_mass" value="0.127" scope="global" />
<xacro:property name="c_mount_flange_distance" value="0.017526" scope="global" />
<xacro:property name="c_mount_radius" value="${0.025/2}" scope="global" />

<xacro:macro name="basler_ace_base" params="name hfov_deg frame_rate resolution_x resolution_y fisheye:=0 camera_length origin_to_camera_front_dist camera_mass camera_mesh lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0">
<xacro:property name="camera_width" value="0.029"/>
<xacro:property name="camera_height" value="0.029"/>

<xacro:property name="sensor_chip_pos" value="${origin_to_camera_front_dist - c_mount_flange_distance}" />
<xacro:property name="lens_back_pos" value="${sensor_chip_pos + lens_back_focal_distance}" />

<link name="$(arg prefix)${name}">
<visual>
<origin xyz="0 0 ${camera_height/2}" rpy="0 0 0" />
<geometry>
<!-- The origin of the mesh is center above tripod screw -->
<mesh filename="${camera_mesh}"/>
</geometry>
</visual>
<visual>
<!-- The origin of the mesh is at the back of the lens -->
<origin xyz="${lens_back_pos} 0 ${camera_height/2}" rpy="0 0 0" />
<geometry>
<mesh filename="${lens_mesh}"/>
</geometry>
</visual>
<collision name="${name}_collision">
<origin rpy="0 0 0" xyz="${origin_to_camera_front_dist - camera_length/2} 0 ${camera_height/2}"/>
<geometry>
<box size="${camera_length} ${camera_width} ${camera_height}" />
</geometry>
</collision>
<collision name="${name}_lens_collision">
<origin rpy="0 ${pi/2} 0" xyz="${lens_back_pos + lens_length/2} 0 ${camera_height/2}"/>
<geometry>
<cylinder length="${lens_length}" radius="${c_mount_radius}" />
</geometry>
</collision>
<xacro:box_inertial mass="${camera_mass + lens_mass}"
width="${camera_width}" height="${camera_height}" depth="${camera_length + lens_length - (c_mount_flange_distance - lens_back_focal_distance)}"
xyz="${origin_to_camera_front_dist + (lens_length - (c_mount_flange_distance - lens_back_focal_distance))/2 - camera_length/2} 0 ${camera_height/2}" />
</link>
<xacro:if value="${simulate}">
<gazebo reference="$(arg prefix)${name}">
<!-- Workaround for https://github.com/ignitionrobotics/ign-sensors/issues/24 -->
<xacro:if value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}">
<xacro:property name="cam_type" value="camera"/>
</xacro:if>
<xacro:unless value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}">
<xacro:property name="cam_type" value="wideanglecamera"/>
</xacro:unless>
<sensor name="${name}" type="${cam_type}">
<!-- I think the simulated sensor should be placed in the middle of the entrance pupil. -->
<xacro:property name="virtual_lens_origin" value="${lens_back_pos + lens_length - lens_entrance_pupil_position}" />
<pose>${virtual_lens_origin} 0 ${camera_height/2} 0 0 0</pose>
<update_rate>${frame_rate}</update_rate>
<visualize>${visualize}</visualize>
<camera>
<horizontal_fov>${radians(hfov_deg)}</horizontal_fov>
<image>
<width>${resolution_x}</width>
<height>${resolution_y}</height>
<format>R8G8B8</format>
</image>
<clip>
<xacro:property name="clip" value="${lens_entrance_pupil_position * 1.1 if near_clip == -1 else near_clip}" />
<near>${clip}</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
<xacro:if value="${fisheye and '$(arg rendering_target)' == 'gz'}">
<lens>
<type>stereographic</type>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>${pi}</cutoff_angle>
<env_texture_size>1024</env_texture_size>
</lens>
</xacro:if>
</camera>
</sensor>
</gazebo>
</xacro:if>
</xacro:macro>

<xacro:macro name="basler_ace2_pro_link" params="name hfov_deg fisheye:=0 lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0">
<xacro:basler_ace_base name="${name}" hfov_deg="${hfov_deg}" frame_rate="9" resolution_x="1920" resolution_y="1200"
fisheye="${fisheye}" simulate="${simulate}" visualize="${visualize}"
camera_length="0.0555" origin_to_camera_front_dist="0.0524" camera_mass="${basler_ace2_pro_mass}"
camera_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae"
lens_length="${lens_length}" lens_back_focal_distance="${lens_back_focal_distance}"
lens_entrance_pupil_position="${lens_entrance_pupil_position}" lens_mass="${lens_mass}" lens_mesh="${lens_mesh}"
near_clip="${near_clip}"
/>
</xacro:macro>

<xacro:macro name="basler_ace_omnicam" params="name simulate:=1 visualize:=0">
<xacro:basler_ace2_pro_link name="${name}" hfov_deg="86.5" simulate="${simulate}" visualize="${visualize}"
lens_back_focal_distance="0.00809" lens_entrance_pupil_position="0.01066" lens_length="0.03974" lens_mass="${omnicam_lens_mass}"
lens_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae" />
</xacro:macro>
</root>
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