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Ros1-legacy #3077

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Ros1-legacy #3077

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c4bc75a
Update and add launch and urdf files for gazebo
scole02 Apr 16, 2024
ecdb7d1
Add launch files for gazebo integration
scole02 Apr 21, 2024
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2 changes: 1 addition & 1 deletion realsense2_camera/launch/rs_camera.launch
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Expand Up @@ -47,7 +47,7 @@
<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
<arg name="pointcloud_texture_index" default="0"/>
<arg name="allow_no_texture_points" default="false"/>
<arg name="ordered_pc" default="false"/>
<arg name="ordered_pc" default="true"/>

<arg name="enable_sync" default="false"/>
<arg name="align_depth" default="false"/>
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28 changes: 28 additions & 0 deletions realsense2_description/launch/gazebo.launch
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<launch>

<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="start_gazebo" default="true"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="model" default="$(find realsense2_description)/urdf/test_d435_camera.urdf.xacro"/>

<!-- robot description to load in rviz or gazebo -->
<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />

<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include if="$(arg start_gazebo)" file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>

<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
args="-z 0.0 -x 0.0 -y 0.0 -unpause -urdf -model robot -param robot_description" respawn="false" output="screen" />
</launch>

21 changes: 21 additions & 0 deletions realsense2_description/launch/view_d435_model_rviz_gazebo.launch
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<launch>
<!-- arguments for the urdf xacro file, rviz visualization and namespace -->
<arg name="start_gazebo" default="true"/>
<arg name="model" default="$(find realsense2_description)/urdf/test_d435_camera.urdf.xacro"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model) use_nominal_extrinsics:=true add_plug:=true" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>

<!-- this will include the launch file for gazebo given the model -->
<include file="$(find realsense2_description)/launch/gazebo.launch">
<arg name="model" value="$(arg model)" />
<!-- We wont need to start gazebo if kortex does it for us -->
<arg name="start_gazebo" value="$(arg start_gazebo)" />
</include>

<arg name="gui" default="True" />
<param name="use_gui" value="$(arg gui)" />
<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_description)/rviz/urdf.rviz" required="true" /> -->
</launch>

2 changes: 1 addition & 1 deletion realsense2_description/rviz/urdf.rviz
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Expand Up @@ -130,7 +130,7 @@ Visualization Manager:
camera_infra2_frame:
camera_infra2_optical_frame:
{}
Update Interval: 0
Update Interval: 5
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
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147 changes: 147 additions & 0 deletions realsense2_description/urdf/_d435.gazebo.xacro
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<?xml version="1.0"?>

<!--
License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 PAL Robotics, S.L. All Rights Reserved

This is the Gazebo URDF model for the Intel RealSense D435 camera
-->

<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="gazebo_d435" params="camera_name reference_link topics_ns depth_optical_frame color_optical_frame infrared1_optical_frame infrared2_optical_frame publish_pointcloud:=true" >

<!-- Load parameters to model's main link-->
<xacro:property name="deg_to_rad" value="0.01745329251994329577" />
<gazebo reference="${reference_link}">
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<gravity>1</gravity>
<!--<mu>1</mu>-->
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<!--<slip1>0</slip1>
<slip2>0</slip2>-->
<kp>1e+13</kp>
<kd>1</kd>
<!--<max_vel>0.01</max_vel>
<min_depth>0</min_depth>-->
<sensor name="${camera_name}color" type="camera">
<camera name="${camera_name}">
<horizontal_fov>${69.4*deg_to_rad}</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>1</visualize>
</sensor>
<sensor name="${camera_name}ired1" type="camera">
<camera name="${camera_name}">
<horizontal_fov>${85.2*deg_to_rad}</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.05</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>90</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name="${camera_name}ired2" type="camera">
<camera name="${camera_name}">
<horizontal_fov>${85.2*deg_to_rad}</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.05</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>90</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name="${camera_name}depth" type="depth">
<camera name="${camera_name}">
<horizontal_fov>${85.2*deg_to_rad}</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.100</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>90</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>

<gazebo>
<plugin name="${topics_ns}" filename="librealsense_gazebo_plugin.so">
<prefix>${camera_name}</prefix>
<depthUpdateRate>30.0</depthUpdateRate>
<colorUpdateRate>30.0</colorUpdateRate>
<infraredUpdateRate>30.0</infraredUpdateRate>
<depthTopicName>depth/image_raw</depthTopicName>
<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>color/image_raw</colorTopicName>
<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>infra1/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>infra2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>${color_optical_frame}</colorOpticalframeName>
<depthOpticalframeName>${depth_optical_frame}</depthOpticalframeName>
<infrared1OpticalframeName>${infrared1_optical_frame}</infrared1OpticalframeName>
<infrared2OpticalframeName>${infrared2_optical_frame}</infrared2OpticalframeName>
<rangeMinDepth>0.2</rangeMinDepth>
<rangeMaxDepth>10.0</rangeMaxDepth>
<pointCloud>${publish_pointcloud}</pointCloud>
<pointCloudTopicName>depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.25</pointCloudCutoff>
<pointCloudCutoffMax>9.0</pointCloudCutoffMax>
</plugin>
</gazebo>

</xacro:macro>
</robot>
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