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Merged
merged 3 commits into from
Oct 14, 2024
Merged

Add RGBD, RGB and RGB triggered options #2

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c8643d7
Add RGBD, RGB and RGB triggered options
MarqRazz Oct 11, 2024
85b4454
disable performance metrics being published
MarqRazz Oct 11, 2024
07999c6
add docs to readme
MarqRazz Oct 14, 2024
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118 changes: 41 additions & 77 deletions urdf/_d405.gazebo.xacro
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Original file line number Diff line number Diff line change
@@ -1,98 +1,62 @@
<?xml version="1.0"?>
<robot name="gazebo_d405" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">

<!--
Gazebo plugins can only be included once so this xacro assumes that a parent will include and configure them.
This xacro requires Gazebo plugin:
- ignition::gazebo::systems::Sensors
to publish simulated RGBD camera data
<xacro:include filename="$(find realsense2_gz_description)/urdf/rgb_camera.gazebo.xacro" />
<xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />

For example:
<gazebo>
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
</gazebo>
<!-- Xacro args
name: should match the name value passed to realsense2_description sensor xacro
type: valid values [rgb or rgbd]. Sensor type you would like to simulate
fps: the target frame rate of the camera images
gz_topic_name: the topic name the image and camera_info are published to Gazebo topics
image_width: See Realsense documentation for what the physical sensor supports
image_height: See Realsense documentation for what the physical sensor supports
trigger: valid values [true, false]. Only supported with 'type=rgb' and will only publish a single image when triggered on Gazebo topic '${name}/trigger'
example command line trigger
ign topic -t "/name/trigger" -m Boolean -p "data: true" -n 1
-->
<xacro:macro name="gazebo_d405" params="
name:=camera
type:=rgbd
fps:=15
gz_topic_name:=camera
image_width:=1280
image_height:=720">
image_height:=720
triggered:=false">

<!-- Realsense D405 RGB properties
Assumptions:
Parent system (URDF or sdf) will start the Gazebo Sensors plugin. See notes in the camera.gazebo.xacros.
Simulated RGB and Depth sensors are in the same location as the RGB sensor of the physical camera.
Simulated RGB and Depth sensors and have the same FOV as the RGB physical sensor.
Note: physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
the referenced camera color_frame. -->
<xacro:property name="realsense_h_fov" value="${69 * pi/180}" />
<xacro:property name="realsense_v_fov" value="${42 * pi/180}" />
<xacro:property name="fx" value="${image_width * 0.5 / tan(realsense_h_fov * 0.5)}" />
<xacro:property name="fy" value="${image_height * 0.5 / tan(realsense_v_fov * 0.5)}" />
<xacro:property name="cx" value="${image_width * 0.5}" />
<xacro:property name="cy" value="${image_height * 0.5}" />
<xacro:property name="realsense_h_fov" value="${87 * pi/180}" />
<xacro:property name="realsense_v_fov" value="${58 * pi/180}" />
<xacro:property name="min_depth" value="0.07" />
<xacro:property name="max_depth" value="0.5" />

<gazebo reference="${name}_color_frame">
<sensor name="${name}" type="rgbd_camera">
<camera>
<horizontal_fov>${realsense_h_fov}</horizontal_fov>
<image>
<width>${image_width}</width>
<height>${image_height}</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.028</near>
<far>5</far>
</clip>
<distortion>
<k1>0.0</k1>
<k2>0.0</k2>
<k3>0.0</k3>
<p1>0.0</p1>
<p2>0.0</p2>
<center>0.5 0.5</center>
</distortion>
<lens>
<intrinsics>
<fx>${fx}</fx>
<fy>${fy}</fy>
<cx>${cx}</cx>
<cy>${cy}</cy>
<s>0</s>
</intrinsics>
<projection>
<p_fx>${fx}</p_fx>
<p_fy>${fy}</p_fy>
<p_cx>${cx}</p_cx>
<p_cy>${cy}</p_cy>
<tx>0</tx>
<ty>0</ty>
</projection>
</lens>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.00</stddev>
</noise>
<depth_camera>
<clip>
<near>0.028</near>
<far>5</far>
</clip>
</depth_camera>
<optical_frame_id>${name}_color_optical_frame</optical_frame_id>
</camera>
<ignition_frame_id>${name}_color_frame</ignition_frame_id>
<always_on>1</always_on>
<update_rate>${fps}</update_rate>
<visualize>false</visualize>
<topic>${gz_topic_name}</topic>
<enable_metrics>false</enable_metrics>
</sensor>
</gazebo>
<xacro:if value="${type == 'rgbd'}">
<xacro:gazebo_rgbd name="${name}"
fps="${fps}"
gz_topic_name="${gz_topic_name}"
image_width="${image_width}"
image_height="${image_height}"
h_fov="${realsense_h_fov}"
v_fov="${realsense_v_fov}"
min_depth="${min_depth}"
max_depth="${max_depth}"/>
</xacro:if>
<xacro:if value="${type == 'rgb'}">
<xacro:gazebo_rgb name="${name}"
fps="${fps}"
gz_topic_name="${gz_topic_name}"
image_width="${image_width}"
image_height="${image_height}"
h_fov="${realsense_h_fov}"
v_fov="${realsense_v_fov}"
triggered="${triggered}"/>
</xacro:if>

</xacro:macro>
</robot>
114 changes: 39 additions & 75 deletions urdf/_d415.gazebo.xacro
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Original file line number Diff line number Diff line change
@@ -1,98 +1,62 @@
<?xml version="1.0"?>
<robot name="gazebo_d415" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">

<!--
Gazebo plugins can only be included once so this xacro assumes that a parent will include and configure them.
This xacro requires Gazebo plugin:
- ignition::gazebo::systems::Sensors
to publish simulated RGBD camera data
<xacro:include filename="$(find realsense2_gz_description)/urdf/rgb_camera.gazebo.xacro" />
<xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />

For example:
<gazebo>
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
</gazebo>
<!-- Xacro args
name: should match the name value passed to realsense2_description sensor xacro
type: valid values [rgb or rgbd]. Sensor type you would like to simulate
fps: the target frame rate of the camera images
gz_topic_name: the topic name the image and camera_info are published to Gazebo topics
image_width: See Realsense documentation for what the physical sensor supports
image_height: See Realsense documentation for what the physical sensor supports
trigger: valid values [true, false]. Only supported with 'type=rgb' and will only publish a single image when triggered on Gazebo topic '${name}/trigger'
example command line trigger
ign topic -t "/name/trigger" -m Boolean -p "data: true" -n 1
-->
<xacro:macro name="gazebo_d415" params="
name:=camera
type:=rgbd
fps:=15
gz_topic_name:=camera
image_width:=1280
image_height:=720">
image_height:=720
triggered:=false">

<!-- Realsense D415 RGB properties
Assumptions:
Parent system (URDF or sdf) will start the Gazebo Sensors plugin. See notes in the camera.gazebo.xacros.
Simulated RGB and Depth sensors are in the same location as the RGB sensor of the physical camera.
Simulated RGB and Depth sensors and have the same FOV as the RGB physical sensor.
Note: physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
the referenced camera color_frame. -->
<xacro:property name="realsense_h_fov" value="${69 * pi/180}" />
<xacro:property name="realsense_v_fov" value="${42 * pi/180}" />
<xacro:property name="fx" value="${image_width * 0.5 / tan(realsense_h_fov * 0.5)}" />
<xacro:property name="fy" value="${image_height * 0.5 / tan(realsense_v_fov * 0.5)}" />
<xacro:property name="cx" value="${image_width * 0.5}" />
<xacro:property name="cy" value="${image_height * 0.5}" />
<xacro:property name="min_depth" value="0.45" />
<xacro:property name="max_depth" value="3.0" />

<gazebo reference="${name}_color_frame">
<sensor name="${name}" type="rgbd_camera">
<camera>
<horizontal_fov>${realsense_h_fov}</horizontal_fov>
<image>
<width>${image_width}</width>
<height>${image_height}</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.45</near>
<far>5</far>
</clip>
<distortion>
<k1>0.0</k1>
<k2>0.0</k2>
<k3>0.0</k3>
<p1>0.0</p1>
<p2>0.0</p2>
<center>0.5 0.5</center>
</distortion>
<lens>
<intrinsics>
<fx>${fx}</fx>
<fy>${fy}</fy>
<cx>${cx}</cx>
<cy>${cy}</cy>
<s>0</s>
</intrinsics>
<projection>
<p_fx>${fx}</p_fx>
<p_fy>${fy}</p_fy>
<p_cx>${cx}</p_cx>
<p_cy>${cy}</p_cy>
<tx>0</tx>
<ty>0</ty>
</projection>
</lens>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.00</stddev>
</noise>
<depth_camera>
<clip>
<near>0.45</near>
<far>5</far>
</clip>
</depth_camera>
<optical_frame_id>${name}_color_optical_frame</optical_frame_id>
</camera>
<ignition_frame_id>${name}_color_frame</ignition_frame_id>
<always_on>1</always_on>
<update_rate>${fps}</update_rate>
<visualize>false</visualize>
<topic>${gz_topic_name}</topic>
<enable_metrics>false</enable_metrics>
</sensor>
</gazebo>
<xacro:if value="${type == 'rgbd'}">
<xacro:gazebo_rgbd name="${name}"
fps="${fps}"
gz_topic_name="${gz_topic_name}"
image_width="${image_width}"
image_height="${image_height}"
h_fov="${realsense_h_fov}"
v_fov="${realsense_v_fov}"
min_depth="${min_depth}"
max_depth="${max_depth}"/>
</xacro:if>
<xacro:if value="${type == 'rgb'}">
<xacro:gazebo_rgb name="${name}"
fps="${fps}"
gz_topic_name="${gz_topic_name}"
image_width="${image_width}"
image_height="${image_height}"
h_fov="${realsense_h_fov}"
v_fov="${realsense_v_fov}"
triggered="${triggered}"/>
</xacro:if>

</xacro:macro>
</robot>
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