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Fixed camera frames/Gazebo

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-30 11:51:58 +03:00
parent 8f3766d980
commit f373f21f45
3 changed files with 105 additions and 82 deletions
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95
nao_dcm_common/nao_dcm_description/urdf/modules/cameras.xacro
View File

@ -1,16 +1,103 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- CAMERAS --> <!-- CAMERAS -->
<joint name="TopCamera" type="fixed"> <joint name="gaze-top-camera" type="fixed">
<parent link="gaze"/> <parent link="gaze"/>
<child link="CameraTop"/> <child link="TopCamera"/>
<origin xyz="0.05871 0 0.06364" rpy="0 0.0209 0"/> <origin xyz="0.05871 0 0.06364" rpy="0 0.0209 0"/>
</joint> </joint>
<link name="TopCamera"/>
<joint name="fixed-top-camera" type="fixed">
<parent link="TopCamera"/>
<child link="CameraTop"/>
<origin xyz="0 0 0" rpy="-${PI_2} 0 -${PI_2}"/>
</joint>
<link name="CameraTop"/> <link name="CameraTop"/>
<joint name="BottomCamera" type="fixed"> <joint name="gaze-bottom-camera" type="fixed">
<parent link="gaze"/> <parent link="gaze"/>
<child link="CameraBottom"/> <child link="BottomCamera"/>
<origin xyz="0.05071 0 0.01774" rpy="0 0.6929 0"/> <origin xyz="0.05071 0 0.01774" rpy="0 0.6929 0"/>
</joint> </joint>
<link name="BottomCamera"/>
<joint name="fixed-bottom-camera" type="fixed">
<parent link="BottomCamera"/>
<child link="CameraBottom"/>
<origin xyz="0 0 0" rpy="-${PI_2} 0 -${PI_2}"/>
</joint>
<link name="CameraBottom"/> <link name="CameraBottom"/>
<!-- GAZEBO -->
<gazebo reference="TopCamera">
<sensor type="camera" name="CameraTop">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.06290551</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.3</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>nao_dcm/CameraTop</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>CameraTop</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="BottomCamera">
<sensor type="camera" name="CameraBottom">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>0.834267382</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.3</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>nao_dcm/CameraBottom</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>CameraBottom</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</robot> </robot>

16
nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro
View File

@ -52,6 +52,12 @@
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" /> <inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial> </inertial>
</link> </link>
<joint name="fixed-left-camera" type="fixed">
<parent link="LeftCamera"/>
<child link="CameraLeft"/>
<origin xyz="0 0 0" rpy="-${PI_2} 0 -${PI_2}"/>
</joint>
<link name="CameraLeft"/>
<joint name="helmet-right-camera" type="fixed"> <joint name="helmet-right-camera" type="fixed">
<parent link="helmet"/> <parent link="helmet"/>
<child link="RightCamera"/> <child link="RightCamera"/>
@ -65,6 +71,12 @@
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" /> <inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial> </inertial>
</link> </link>
<joint name="fixed-right-camera" type="fixed">
<parent link="RightCamera"/>
<child link="CameraRight"/>
<origin xyz="0 0 0" rpy="-${PI_2} 0 -${PI_2}"/>
</joint>
<link name="CameraRight"/>
<!-- GAZEBO RELATED PARAMETERS --> <!-- GAZEBO RELATED PARAMETERS -->
<!-- DUMMY VALUES - CHANGE TO THE ONES YOUR CAMERAS HAVE --> <!-- DUMMY VALUES - CHANGE TO THE ONES YOUR CAMERAS HAVE -->
<gazebo reference="LeftCamera"> <gazebo reference="LeftCamera">
@ -93,7 +105,7 @@
<cameraName>nao_dcm/CameraLeft</cameraName> <cameraName>nao_dcm/CameraLeft</cameraName>
<imageTopicName>image_raw</imageTopicName> <imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName> <cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>LeftCamera</frameName> <frameName>CameraLeft</frameName>
<hackBaseline>0.07</hackBaseline> <hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1> <distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2> <distortionK2>0.0</distortionK2>
@ -130,7 +142,7 @@
<cameraName>nao_dcm/CameraRight</cameraName> <cameraName>nao_dcm/CameraRight</cameraName>
<imageTopicName>image_raw</imageTopicName> <imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName> <cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>RightCamera</frameName> <frameName>CameraRight</frameName>
<hackBaseline>0.07</hackBaseline> <hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1> <distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2> <distortionK2>0.0</distortionK2>

76
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
View File

@ -379,81 +379,5 @@
<minDepth>0.003</minDepth> <minDepth>0.003</minDepth>
</gazebo> </gazebo>
<!-- END OF GAZEBO MATERIALS --> <!-- END OF GAZEBO MATERIALS -->
<!-- Used for fixing robot to Gazebo 'base_link' -->
<!-- <link name="world"/><joint name="fixed" type="fixed"><parent link="world"/><child link="Torso"/><origin xyz="0 0 0.7" rpy="0 0 0" /></joint>-->
<!-- cameras -->
<gazebo reference="CameraTop">
<sensor type="camera" name="CameraTop">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.06290551</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.3</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>nao_dcm/CameraTop</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>CameraTop</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="CameraBottom">
<sensor type="camera" name="CameraBottom">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>0.834267382</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.3</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>nao_dcm/CameraBottom</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>CameraBottom</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</robot> </robot>