HeeroYui-deprecated/nao_dcm
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Added odom publisher. Improved a little bit Gazebo integration

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-29 16:15:55 +03:00
parent f547fd5745
commit d89426c35a
5 changed files with 49 additions and 5 deletions
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8
nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro
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@ -69,7 +69,7 @@
<!-- DUMMY VALUES - CHANGE TO THE ONES YOUR CAMERAS HAVE -->
<gazebo reference="LeftCamera">
<sensor type="camera" name="LeftCamera">
<update_rate>10.0</update_rate>
<update_rate>30.0</update_rate>
<camera name="left_camera">
<horizontal_fov>1.06290551</horizontal_fov>
<image>
@ -89,7 +89,7 @@
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>10.0</updateRate>
<updateRate>30.0</updateRate>
<cameraName>nao_dcm/CameraLeft</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
@ -106,7 +106,7 @@
<gazebo reference="RightCamera">
<sensor type="camera" name="RightCamera">
<update_rate>10.0</update_rate>
<update_rate>30.0</update_rate>
<camera name="right_camera">
<horizontal_fov>1.06290551</horizontal_fov>
<image>
@ -126,7 +126,7 @@
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>10.0</updateRate>
<updateRate>30.0</updateRate>
<cameraName>nao_dcm/CameraRight</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>

8
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21.xacro
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@ -10,6 +10,14 @@
<xacro:property name="use_helmet" value="true" />
<xacro:property name="helmet_cameras_viz" value="false" />
<xacro:property name="use_odroid" value="true" />
<xacro:property name="use_hector_imu" value="false" />
<xacro:if value="${use_hector_imu}">
<xacro:property name="imu_plugin" value="libhector_gazebo_ros_imu.so" />
</xacro:if>
<xacro:unless value="${use_hector_imu}">
<xacro:property name="imu_plugin" value="libgazebo_ros_imu.so" />
</xacro:unless>
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />

8
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25.xacro
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@ -10,6 +10,14 @@
<xacro:property name="use_helmet" value="true" />
<xacro:property name="helmet_cameras_viz" value="false" />
<xacro:property name="use_odroid" value="true" />
<xacro:property name="use_hector_imu" value="false" />
<xacro:if value="${use_hector_imu}">
<xacro:property name="imu_plugin" value="libhector_gazebo_ros_imu.so" />
</xacro:if>
<xacro:unless value="${use_hector_imu}">
<xacro:property name="imu_plugin" value="libgazebo_ros_imu.so" />
</xacro:unless>
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />

6
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
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@ -6,11 +6,15 @@
<robotNamespace>/nao_dcm</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
<plugin name="gazebo_ros_imu_controller" filename="libgazebo_ros_imu.so">
<plugin name="gazebo_ros_imu_controller" filename="${imu_plugin}">
<robotNamespace>/nao_dcm</robotNamespace>
<topicName>imu_data</topicName>
<bodyName>imu</bodyName>
<frameId>imu</frameId>
<gaussianNoise>2.89e-08</gaussianNoise>
<accelGaussianNoise>2.89e-08 2.89e-08 2.89e-08</accelGaussianNoise>
<rateGaussianNoise>2.89e-08 2.89e-08 2.89e-08</rateGaussianNoise>
<headingGaussianNoise>2.89e-08 2.89e-08 2.89e-08</headingGaussianNoise>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
<updateRate>30.0</updateRate>

24
nao_dcm_robot/nao_dcm_bringup/launch/nao_dcm_odom_publisher.launch Normal file
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@ -0,0 +1,24 @@
<?xml version="1.0"?>
<launch>
<!-- Call helper node to get rectified images from stereo system -->
<node name="stereo_proc" pkg="stereo_image_proc" type="stereo_image_proc" respawn="false" output="screen">
<remap from="/left/image_raw" to="/nao_dcm/CameraLeft/image_raw"/>
<remap from="/left/camera_info" to="/nao_dcm/CameraLeft/camera_info"/>
<remap from="/right/image_raw" to="/nao_dcm/CameraRight/image_raw"/>
<remap from="/right/camera_info" to="/nao_dcm/CameraRight/camera_info"/>
<param name="approximate_sync" value="True" />
</node>
<!-- Call helper nodes to get visual odometry and combine it with imu data -->
<node name="viso" pkg="viso2_ros" type="stereo_odometer" respawn="false" output="screen">
<param name="publish_tf" value="true"/>
<param name="approximate_sync" value="True" />
<remap from="stereo/left/image" to="/left/image_rect"/>
<remap from="stereo/left/camera_info" to="/nao_dcm/CameraLeft/camera_info"/>
<remap from="stereo/right/image" to="/right/image_rect"/>
<remap from="stereo/right/camera_info" to="/nao_dcm/CameraRight/camera_info"/>
<remap from="/viso/odometry" to="/nao_dcm/odom"/>
</node>
</launch>