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Feat/axis simulation node #16

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Feat/axis simulation node #16

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6e11d6e
create anode for axis simulation
m-sanchez-rico Dec 19, 2024
47ee96a
add a simulator node for axis
m-sanchez-rico Jan 16, 2025
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6 changes: 6 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,12 @@ catkin_install_python(PROGRAMS src/axis_camera/axis_stream_node.py
catkin_install_python(PROGRAMS src/axis_camera/axis_node.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

catkin_install_python(PROGRAMS src/axis_camera/axis_ptz_sim.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

catkin_install_python(PROGRAMS src/axis_camera/axis_ptz_sim_node.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(
DIRECTORY launch config data
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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20 changes: 0 additions & 20 deletions config/axis_gazebo_ptz_config.yaml
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22 changes: 22 additions & 0 deletions config/axis_sim_ptz_config.yaml
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@@ -0,0 +1,22 @@
desired_freq: 10

subscriber_rgb_comand_topic: front_ptz_camera_control/ptz_command
server_rgb_comand_service: front_ptz_camera_control/ptz_command
server_home_comand_service: front_ptz_camera_control/home_command

# Name of the camera joints Global namespace using '/'
pan_joint_controller_topic: /robot/front_ptz_camera_joint_pan_position_controller/command
tilt_joint_controller_topic: /robot/front_ptz_camera_joint_tilt_position_controller/command
zoom_joint_controller_topic: /robot/front_ptz_camera_joint_zoom_position_controller/command

# radians
max_pan_value: 3.14
min_pan_value: -3.14
max_tilt_value: 1.57
min_tilt_value: 0.0
max_zoom_value: 30
min_zoom_value: 0

# Flag to invert received/sent pan and tilt values
invert_pan: false
invert_tilt: false
57 changes: 0 additions & 57 deletions launch/axis_gazebo.launch
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12 changes: 12 additions & 0 deletions launch/axis_ptz_sim.launch
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<?xml version="1.0"?>
<launch>

<arg name="node_name" default="axis_camera"/>
<arg name="ptz_sim_config_file" default="$(find axis_camera)/config/axis_sim_ptz_config.yaml"/>

<node pkg="axis_camera" type="axis_ptz_sim_node.py" name="$(arg node_name)_control" output="screen">
<rosparam file="$(arg ptz_sim_config_file)" command="load" subst_value="true"/>
</node>

</launch>

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