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Added demo_catvehicle_mapping.launch (#592). MapCloud display: fixed clouds requested when changing sensor modality.

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matlabbe
2022-01-25 18:20:50 -05:00
parent 48e1d464f3
commit 9c9e6f5edb
8 changed files with 270 additions and 5 deletions
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launch/config/catvehicle_triclops.gazebo
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<?xml version="1.0"?>
<!--
Author: Jonathan Sprinkle, Sam Taylor, Alex Warren, Rahul Bhadani
Hannah Grace Mason, Joe Macinnes, Landon Chase Bentley
Copyright (c) 2015-2018 Arizona Board of Regents
All rights reserved.
Permission is hereby granted, without written agreement and without
license or royalty fees, to use, copy, modify, and distribute this
software and its documentation for any purpose, provided that the
above copyright notice and the following two paragraphs appear in
all copies of this software.
IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.
THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
Summary:
This file includes gazebo reference for front stereo camera simulation mounted
on the top of the car. For more information and for the tutorials used to create
this file, see
http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.1415926535897931" />
<!--triclops camera-->
<gazebo reference="triclops_link">
<mu1>0.6</mu1>
<mu2>0.5</mu2>
</gazebo>
<joint name="triclops_optical" type="fixed">
<origin xyz="0 0 0" rpy="-${M_PI/2} 0 -${M_PI/2}"/>
<parent link="triclops_link"/>
<child link="triclops_left_optical_link"/>
</joint>
<link name="triclops_left_optical_link"/>
<gazebo reference="triclops_link">
<sensor type="multicamera" name="triclops">
<update_rate>16.0</update_rate>
<camera name="left">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>1280</width>
<height>960</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<camera name="right">
<pose>0 -0.07 0 0 0 0</pose>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>1280</width>
<height>960</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_triclops_controller" filename="libgazebo_ros_multicamera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<robotNamespace>/$(arg roboname)</robotNamespace>
<cameraName>triclops</cameraName>
<imageTopicName>image_rect_color</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>triclops_left_optical_link</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>
launch/config/catvehicle_velodyne_points.gazebo
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<?xml version="1.0"?>
<!--
Author: Jonathan Sprinkle, Sam Taylor, Alex Warren
Copyright (c) 2015 Arizona Board of Regents
All rights reserved.
Permission is hereby granted, without written agreement and without
license or royalty fees, to use, copy, modify, and distribute this
software and its documentation for any purpose, provided that the
above copyright notice and the following two paragraphs appear in
all copies of this software.
IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.
THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
Summary:
This file includes the control interfaces for ROS-based control
through Gazebo. For more information and for the tutorials used to create
this file, see
http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
Sensors are included separately, based on the arguments passed to the xacro include
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:VLP-16 parent="velodyne_link" name="velodyne" topic="/$(arg roboname)/velodyne_points" organize_cloud="false" hz="10" samples="440" gpu="true">
<origin xyz="0 0 0.0" rpy="0 0 0" />
</xacro:VLP-16>
</robot>