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isaac sim: updated instructions for 2022, added stereo option

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matlabbe
2022-11-06 15:45:22 -08:00
parent b7c724c23d
commit a9497f3a39
1 changed files with 14 additions and 1 deletions
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launch/demo/demo_isaac_carter_navigation.launch
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@@ -12,11 +12,18 @@
Note: carter_2dnav package can be copied to your catkin_ws from: Note: carter_2dnav package can be copied to your catkin_ws from:
$ cp -r ~/.local/share/ov/pkg/isaac_sim-2021.2.0/ros_workspace/src/* ~/catkin_ws/src/. $ cp -r ~/.local/share/ov/pkg/isaac_sim-2021.2.0/ros_workspace/src/* ~/catkin_ws/src/.
Isaac Sim 2021:
For Lidar 3D Mode (lidar3d:=true), make sure in isaac sim that Carter robot is set with VLP16-like parameters (16 rings): For Lidar 3D Mode (lidar3d:=true), make sure in isaac sim that Carter robot is set with VLP16-like parameters (16 rings):
Under World -> Carter_ROS -> chassis_link -> carter_lidar -> highLod = True Under World -> Carter_ROS -> chassis_link -> carter_lidar -> highLod = True
-> verticalFov = 32 -> verticalFov = 32
-> verticalResolution = 2 -> verticalResolution = 2
-> ROS_lidar -> pointCloudEnabled = True -> ROS_lidar -> pointCloudEnabled = True
Isaac Sim 2022 (Action Graph):
To enable all camera streams (right, depth left and depth right):
1. Stage view -> World-> Carter_ROS, right-click on ROS_Cameras -> Open graph
2. For all Branch nodes (green/red icon), select them, then check Compute Node -> Inputs -> Condition checkbox.
3D LIDAR: TODO: didn't find how to enable/publish it.
--> -->
<param name="use_sim_time" value="true" /> <param name="use_sim_time" value="true" />
@@ -27,6 +34,7 @@
<arg name="lidar3d_grid3d" default="true" /> <arg name="lidar3d_grid3d" default="true" />
<arg name="camera" default="true" /> <arg name="camera" default="true" />
<arg name="stereo" default="false" /> <!-- RGB-D mode by default -->
<!-- Load Robot Description --> <!-- Load Robot Description -->
<arg name="model" default="$(find carter_description)/urdf/carter.urdf"/> <arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
@@ -46,7 +54,8 @@
<arg name="localization" value="$(arg localization)"/> <arg name="localization" value="$(arg localization)"/>
<arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/> <arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/>
<arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/> <arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/>
<arg name="depth" value="$(arg camera)"/> <arg name="stereo" value="$(eval camera and stereo)"/>
<arg name="depth" value="$(eval camera and not stereo)"/>
<arg name="subscribe_rgb" value="$(arg camera)"/> <arg name="subscribe_rgb" value="$(arg camera)"/>
<arg name="visual_odometry" value="false"/> <arg name="visual_odometry" value="false"/>
<arg name="odom_topic" value="/odom"/> <arg name="odom_topic" value="/odom"/>
@@ -54,6 +63,10 @@
<arg name="depth_topic" value="/depth_left"/> <arg name="depth_topic" value="/depth_left"/>
<arg name="rgb_topic" value="/rgb_left"/> <arg name="rgb_topic" value="/rgb_left"/>
<arg name="camera_info_topic" value="/camera_info_left"/> <arg name="camera_info_topic" value="/camera_info_left"/>
<arg name="left_image_topic" value="/rgb_left"/>
<arg name="left_camera_info_topic" value="/camera_info_left"/>
<arg name="right_image_topic" value="/rgb_right"/>
<arg name="right_camera_info_topic" value="/camera_info_right"/>
<arg name="scan_topic" value="/scan"/> <arg name="scan_topic" value="/scan"/>
<arg name="scan_cloud_topic" value="/point_cloud"/> <arg name="scan_cloud_topic" value="/point_cloud"/>
<arg name="rgbd_sync" value="true"/> <arg name="rgbd_sync" value="true"/>