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MarqRazzMarqRazz
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Add RGBD, RGB and RGB triggered options (#2)
1 parent 06f2039 commit 0334a79

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‎README.md

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@@ -22,7 +22,7 @@ Which should start a simulated camera in Gazebo with a few objects in front of i
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# Example Usage in URDF
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In your robots urdf.xacro include the desired Realsense model along with its gazebo description.
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In your robots urdf.xacro include the desired Realsense model along with its Gazebo description.
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```xml
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<xacro:include filename="$(find realsense2_description)/urdf/_d415.urdf.xacro" />
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<xacro:include filename="$(find realsense2_gz_description)/urdf/_d415.gazebo.xacro" />
@@ -50,6 +50,18 @@ This plugin can be started from your URDF or world.sdf file.
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you can also refer to the the [example.urdf.xacro](./urdf/example_d415_gazebo.urdf.xacro) included.
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## Gazebo only features
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Gazebo offers a triggered based RGB camera that can be enabled by passing `triggered="true"` to the Gazebo description xacro.
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Currently this feature does not appear to not work with the RGBD sensor, but will hopefully be added soon.
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Switching the camera to only `trigger` when requested allows developers to better control the computation load required by each sensor.
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Note triggering is not a feature the Realsense hardware offers unfortunately.
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To trigger the camera from the command line you can publish on the Gazebo topic `camera_name/trigger`.
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```bash
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ign topic -t "/name/trigger" -m Boolean -p "data: true" -n 1
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```
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## Contributing
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pre-commit is a tool to automatically run formatting checks on each commit, which saves you from manually running them.

‎urdf/_d405.gazebo.xacro

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<?xml version="1.0"?>
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<robot name="gazebo_d405" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">
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<!--
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Gazebo plugins can only be included once so this xacro assumes that a parent will include and configure them.
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This xacro requires Gazebo plugin:
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- ignition::gazebo::systems::Sensors
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to publish simulated RGBD camera data
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<xacro:include filename="$(find realsense2_gz_description)/urdf/rgb_camera.gazebo.xacro" />
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<xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />
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For example:
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<gazebo>
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<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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</gazebo>
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<!-- Xacro args
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name: should match the name value passed to realsense2_description sensor xacro
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type: valid values [rgb or rgbd]. Sensor type you would like to simulate
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fps: the target frame rate of the camera images
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gz_topic_name: the topic name the image and camera_info are published to Gazebo topics
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image_width: See Realsense documentation for what the physical sensor supports
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image_height: See Realsense documentation for what the physical sensor supports
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trigger: valid values [true, false]. Only supported with 'type=rgb' and will only publish a single image when triggered on Gazebo topic '${name}/trigger'
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example command line trigger
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ign topic -t "/name/trigger" -m Boolean -p "data: true" -n 1
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-->
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<xacro:macro name="gazebo_d405" params="
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name:=camera
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type:=rgbd
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fps:=15
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gz_topic_name:=camera
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image_width:=1280
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image_height:=720">
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image_height:=720
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triggered:=false">
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<!-- Realsense D405 RGB properties
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Assumptions:
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Parent system (URDF or sdf) will start the Gazebo Sensors plugin. See notes in the camera.gazebo.xacros.
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Simulated RGB and Depth sensors are in the same location as the RGB sensor of the physical camera.
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Simulated RGB and Depth sensors and have the same FOV as the RGB physical sensor.
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Note: physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
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the referenced camera color_frame. -->
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<xacro:property name="realsense_h_fov" value="${69 * pi/180}" />
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<xacro:property name="realsense_v_fov" value="${42 * pi/180}" />
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<xacro:property name="fx" value="${image_width * 0.5 / tan(realsense_h_fov * 0.5)}" />
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<xacro:property name="fy" value="${image_height * 0.5 / tan(realsense_v_fov * 0.5)}" />
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<xacro:property name="cx" value="${image_width * 0.5}" />
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<xacro:property name="cy" value="${image_height * 0.5}" />
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<xacro:property name="realsense_h_fov" value="${87 * pi/180}" />
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<xacro:property name="realsense_v_fov" value="${58 * pi/180}" />
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<xacro:property name="min_depth" value="0.07" />
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<xacro:property name="max_depth" value="0.5" />
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<gazebo reference="${name}_color_frame">
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<sensor name="${name}" type="rgbd_camera">
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<camera>
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<horizontal_fov>${realsense_h_fov}</horizontal_fov>
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<image>
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<width>${image_width}</width>
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<height>${image_height}</height>
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<format>RGB_INT8</format>
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</image>
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<clip>
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<near>0.028</near>
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<far>5</far>
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</clip>
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<distortion>
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<k1>0.0</k1>
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<k2>0.0</k2>
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<k3>0.0</k3>
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<p1>0.0</p1>
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<p2>0.0</p2>
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<center>0.5 0.5</center>
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</distortion>
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<lens>
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<intrinsics>
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<fx>${fx}</fx>
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<fy>${fy}</fy>
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<cx>${cx}</cx>
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<cy>${cy}</cy>
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<s>0</s>
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</intrinsics>
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<projection>
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<p_fx>${fx}</p_fx>
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<p_fy>${fy}</p_fy>
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<p_cx>${cx}</p_cx>
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<p_cy>${cy}</p_cy>
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<tx>0</tx>
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<ty>0</ty>
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</projection>
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</lens>
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<noise>
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<type>gaussian</type>
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<mean>0</mean>
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<stddev>0.00</stddev>
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</noise>
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<depth_camera>
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<clip>
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<near>0.028</near>
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<far>5</far>
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</clip>
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</depth_camera>
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<optical_frame_id>${name}_color_optical_frame</optical_frame_id>
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</camera>
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<ignition_frame_id>${name}_color_frame</ignition_frame_id>
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<always_on>1</always_on>
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<update_rate>${fps}</update_rate>
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<visualize>false</visualize>
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<topic>${gz_topic_name}</topic>
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<enable_metrics>false</enable_metrics>
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</sensor>
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</gazebo>
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<xacro:if value="${type == 'rgbd'}">
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<xacro:gazebo_rgbd name="${name}"
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fps="${fps}"
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gz_topic_name="${gz_topic_name}"
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image_width="${image_width}"
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image_height="${image_height}"
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h_fov="${realsense_h_fov}"
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v_fov="${realsense_v_fov}"
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min_depth="${min_depth}"
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max_depth="${max_depth}"/>
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</xacro:if>
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<xacro:if value="${type == 'rgb'}">
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<xacro:gazebo_rgb name="${name}"
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fps="${fps}"
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gz_topic_name="${gz_topic_name}"
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image_width="${image_width}"
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image_height="${image_height}"
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h_fov="${realsense_h_fov}"
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v_fov="${realsense_v_fov}"
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triggered="${triggered}"/>
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</xacro:if>
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</xacro:macro>
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</robot>

‎urdf/_d415.gazebo.xacro

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@@ -1,98 +1,62 @@
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<?xml version="1.0"?>
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<robot name="gazebo_d415" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">
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<!--
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Gazebo plugins can only be included once so this xacro assumes that a parent will include and configure them.
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This xacro requires Gazebo plugin:
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- ignition::gazebo::systems::Sensors
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to publish simulated RGBD camera data
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<xacro:include filename="$(find realsense2_gz_description)/urdf/rgb_camera.gazebo.xacro" />
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<xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />
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For example:
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<gazebo>
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<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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</gazebo>
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<!-- Xacro args
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name: should match the name value passed to realsense2_description sensor xacro
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type: valid values [rgb or rgbd]. Sensor type you would like to simulate
10+
fps: the target frame rate of the camera images
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gz_topic_name: the topic name the image and camera_info are published to Gazebo topics
12+
image_width: See Realsense documentation for what the physical sensor supports
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image_height: See Realsense documentation for what the physical sensor supports
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trigger: valid values [true, false]. Only supported with 'type=rgb' and will only publish a single image when triggered on Gazebo topic '${name}/trigger'
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example command line trigger
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ign topic -t "/name/trigger" -m Boolean -p "data: true" -n 1
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-->
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<xacro:macro name="gazebo_d415" params="
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name:=camera
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type:=rgbd
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fps:=15
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gz_topic_name:=camera
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image_width:=1280
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image_height:=720">
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image_height:=720
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triggered:=false">
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<!-- Realsense D415 RGB properties
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Assumptions:
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Parent system (URDF or sdf) will start the Gazebo Sensors plugin. See notes in the camera.gazebo.xacros.
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Simulated RGB and Depth sensors are in the same location as the RGB sensor of the physical camera.
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Simulated RGB and Depth sensors and have the same FOV as the RGB physical sensor.
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Note: physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
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the referenced camera color_frame. -->
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<xacro:property name="realsense_h_fov" value="${69 * pi/180}" />
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<xacro:property name="realsense_v_fov" value="${42 * pi/180}" />
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<xacro:property name="fx" value="${image_width * 0.5 / tan(realsense_h_fov * 0.5)}" />
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<xacro:property name="fy" value="${image_height * 0.5 / tan(realsense_v_fov * 0.5)}" />
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<xacro:property name="cx" value="${image_width * 0.5}" />
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<xacro:property name="cy" value="${image_height * 0.5}" />
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<xacro:property name="min_depth" value="0.45" />
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<xacro:property name="max_depth" value="3.0" />
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<gazebo reference="${name}_color_frame">
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<sensor name="${name}" type="rgbd_camera">
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<camera>
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<horizontal_fov>${realsense_h_fov}</horizontal_fov>
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<image>
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<width>${image_width}</width>
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<height>${image_height}</height>
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<format>RGB_INT8</format>
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</image>
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<clip>
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<near>0.45</near>
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<far>5</far>
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</clip>
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<distortion>
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<k1>0.0</k1>
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<k2>0.0</k2>
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<k3>0.0</k3>
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<p1>0.0</p1>
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<p2>0.0</p2>
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<center>0.5 0.5</center>
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</distortion>
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<lens>
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<intrinsics>
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<fx>${fx}</fx>
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<fy>${fy}</fy>
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<cx>${cx}</cx>
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<cy>${cy}</cy>
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<s>0</s>
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</intrinsics>
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<projection>
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<p_fx>${fx}</p_fx>
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<p_fy>${fy}</p_fy>
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<p_cx>${cx}</p_cx>
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<p_cy>${cy}</p_cy>
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<tx>0</tx>
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<ty>0</ty>
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</projection>
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</lens>
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<noise>
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<type>gaussian</type>
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<mean>0</mean>
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<stddev>0.00</stddev>
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</noise>
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<depth_camera>
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<clip>
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<near>0.45</near>
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<far>5</far>
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</clip>
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</depth_camera>
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<optical_frame_id>${name}_color_optical_frame</optical_frame_id>
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</camera>
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<ignition_frame_id>${name}_color_frame</ignition_frame_id>
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<always_on>1</always_on>
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<update_rate>${fps}</update_rate>
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<visualize>false</visualize>
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<topic>${gz_topic_name}</topic>
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<enable_metrics>false</enable_metrics>
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</sensor>
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</gazebo>
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<xacro:if value="${type == 'rgbd'}">
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<xacro:gazebo_rgbd name="${name}"
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fps="${fps}"
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gz_topic_name="${gz_topic_name}"
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image_width="${image_width}"
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image_height="${image_height}"
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h_fov="${realsense_h_fov}"
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v_fov="${realsense_v_fov}"
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min_depth="${min_depth}"
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max_depth="${max_depth}"/>
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</xacro:if>
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<xacro:if value="${type == 'rgb'}">
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<xacro:gazebo_rgb name="${name}"
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fps="${fps}"
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gz_topic_name="${gz_topic_name}"
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image_width="${image_width}"
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image_height="${image_height}"
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h_fov="${realsense_h_fov}"
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v_fov="${realsense_v_fov}"
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triggered="${triggered}"/>
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</xacro:if>
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</xacro:macro>
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</robot>

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