From 71201a332af218d90e36f681c8f916c3a129f6fc Mon Sep 17 00:00:00 2001 From: janrosell Date: Wed, 15 May 2019 17:00:59 +0200 Subject: [PATCH 01/10] added prefix to the Load function in RealSensePlugin in order to tune the sensor names to deal with multicmaera worlds --- include/realsense_gazebo_plugin/RealSensePlugin.h | 2 +- src/RealSensePlugin.cpp | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/include/realsense_gazebo_plugin/RealSensePlugin.h b/include/realsense_gazebo_plugin/RealSensePlugin.h index fe8e61f..d204a7b 100644 --- a/include/realsense_gazebo_plugin/RealSensePlugin.h +++ b/include/realsense_gazebo_plugin/RealSensePlugin.h @@ -46,7 +46,7 @@ namespace gazebo public: ~RealSensePlugin(); // Documentation Inherited. - public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf, std::string prefix=""); /// \brief Callback for the World Update event. public: void OnUpdate(); diff --git a/src/RealSensePlugin.cpp b/src/RealSensePlugin.cpp index 29fc2cd..d0a512a 100644 --- a/src/RealSensePlugin.cpp +++ b/src/RealSensePlugin.cpp @@ -50,7 +50,7 @@ RealSensePlugin::~RealSensePlugin() } ///////////////////////////////////////////////// -void RealSensePlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +void RealSensePlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf, std::string prefix) { // Output the name of the model std::cout << std::endl @@ -71,13 +71,13 @@ void RealSensePlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) std::dynamic_pointer_cast( smanager->GetSensor(DEPTH_CAMERA_NAME))->DepthCamera(); this->ired1Cam = std::dynamic_pointer_cast( - smanager->GetSensor(IRED1_CAMERA_NAME)) + smanager->GetSensor(prefix+"_"+IRED1_CAMERA_NAME)) ->Camera(); this->ired2Cam = std::dynamic_pointer_cast( - smanager->GetSensor(IRED2_CAMERA_NAME)) + smanager->GetSensor(prefix+"_"+IRED2_CAMERA_NAME)) ->Camera(); this->colorCam = std::dynamic_pointer_cast( - smanager->GetSensor(COLOR_CAMERA_NAME)) + smanager->GetSensor(prefix+"_"+COLOR_CAMERA_NAME)) ->Camera(); // Check if camera renderers have been found successfuly From 9324c5ffa422fb7c87571729aac201abcfcb8b1c Mon Sep 17 00:00:00 2001 From: janrosell Date: Wed, 15 May 2019 17:04:35 +0200 Subject: [PATCH 02/10] now hte call to RealSensePlugin::Load function passes the hendle as the prefix parameter to tune the sensor names --- src/gazebo_ros_realsense.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/gazebo_ros_realsense.cpp b/src/gazebo_ros_realsense.cpp index aecd06f..2546301 100644 --- a/src/gazebo_ros_realsense.cpp +++ b/src/gazebo_ros_realsense.cpp @@ -32,7 +32,7 @@ void GazeboRosRealsense::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } ROS_INFO("Realsense Gazebo ROS plugin loading."); - RealSensePlugin::Load(_model, _sdf); + RealSensePlugin::Load(_model, _sdf, this->GetHandle()); this->rosnode_ = new ros::NodeHandle(this->GetHandle()); From 41d647c1d3fa037080c0cf9812c3ee42becba6f6 Mon Sep 17 00:00:00 2001 From: janrosell Date: Wed, 15 May 2019 17:12:25 +0200 Subject: [PATCH 03/10] corrected errata in name of plugin (missing s) --- urdf/realsense-RS200.macro.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urdf/realsense-RS200.macro.xacro b/urdf/realsense-RS200.macro.xacro index 24e09d0..abbf75d 100644 --- a/urdf/realsense-RS200.macro.xacro +++ b/urdf/realsense-RS200.macro.xacro @@ -83,7 +83,7 @@ - + From f033472992889340658b4d138fbb1c64950ac7b8 Mon Sep 17 00:00:00 2001 From: janrosell Date: Wed, 15 May 2019 17:15:18 +0200 Subject: [PATCH 04/10] changed sensor names in xacro file to include the prefix --- urdf/realsense-RS200.macro.xacro | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/urdf/realsense-RS200.macro.xacro b/urdf/realsense-RS200.macro.xacro index abbf75d..ace92f9 100644 --- a/urdf/realsense-RS200.macro.xacro +++ b/urdf/realsense-RS200.macro.xacro @@ -103,7 +103,7 @@ - + 0 -0.046 0.004 0 0 0 1.047 @@ -126,7 +126,7 @@ 60 1 - + 0 -0.06 0.004 0 0 0 1.047 @@ -149,7 +149,7 @@ 60 0 - + 0 0.01 0.004 0 0 0 1.047 @@ -172,7 +172,7 @@ 60 0 - + 0 -0.03 0.004 0 0 0 1.047 From 007e4bbcee57f2d2a1f0e7e0b902177ac0c32429 Mon Sep 17 00:00:00 2001 From: janrosell Date: Wed, 15 May 2019 17:18:24 +0200 Subject: [PATCH 05/10] changed FOV to 69.4 degrees as indicated in the Intel_D400_Series_Datasheet.pdf document --- urdf/realsense-RS200.macro.xacro | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/urdf/realsense-RS200.macro.xacro b/urdf/realsense-RS200.macro.xacro index ace92f9..4d95e30 100644 --- a/urdf/realsense-RS200.macro.xacro +++ b/urdf/realsense-RS200.macro.xacro @@ -106,7 +106,7 @@ 0 -0.046 0.004 0 0 0 - 1.047 + 1.211258501 640 480 @@ -129,7 +129,7 @@ 0 -0.06 0.004 0 0 0 - 1.047 + 1.211258501 640 480 @@ -152,7 +152,7 @@ 0 0.01 0.004 0 0 0 - 1.047 + 1.211258501 640 480 @@ -175,7 +175,7 @@ 0 -0.03 0.004 0 0 0 - 1.047 + 1.211258501 640 480 From df716b5aa10dec3abd6033c1d2c3c4b7ea24a1e9 Mon Sep 17 00:00:00 2001 From: janrosell Date: Wed, 15 May 2019 17:19:58 +0200 Subject: [PATCH 06/10] changed with to 1920 and height to 1080 as indicated in the Intel_D400_Series_Datasheet.pdf document --- urdf/realsense-RS200.macro.xacro | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/urdf/realsense-RS200.macro.xacro b/urdf/realsense-RS200.macro.xacro index 4d95e30..d4924af 100644 --- a/urdf/realsense-RS200.macro.xacro +++ b/urdf/realsense-RS200.macro.xacro @@ -108,8 +108,8 @@ 1.211258501 - 640 - 480 + 1920 + 1080 RGB_INT8 @@ -131,8 +131,8 @@ 1.211258501 - 640 - 480 + 1920 + 1080 L_INT8 @@ -154,8 +154,8 @@ 1.211258501 - 640 - 480 + 1920 + 1080 L_INT8 @@ -177,8 +177,8 @@ 1.211258501 - 640 - 480 + 1920 + 1080 0.1 From 5f76853c1958466e73413cd54cc0a21a773387d5 Mon Sep 17 00:00:00 2001 From: janrosell Date: Wed, 15 May 2019 17:21:04 +0200 Subject: [PATCH 07/10] added aspect ratio 16:9 as indicated in the Intel_D400_Series_Datasheet.pdf document --- urdf/realsense-RS200.macro.xacro | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/urdf/realsense-RS200.macro.xacro b/urdf/realsense-RS200.macro.xacro index d4924af..9d3a928 100644 --- a/urdf/realsense-RS200.macro.xacro +++ b/urdf/realsense-RS200.macro.xacro @@ -107,6 +107,7 @@ 0 -0.046 0.004 0 0 0 1.211258501 + 1.777777778 1920 1080 @@ -130,6 +131,7 @@ 0 -0.06 0.004 0 0 0 1.211258501 + 1.777777778 1920 1080 @@ -153,6 +155,7 @@ 0 0.01 0.004 0 0 0 1.211258501 + 1.777777778 1920 1080 @@ -176,6 +179,7 @@ 0 -0.03 0.004 0 0 0 1.211258501 + 1.777777778 1920 1080 From 1682d855003c47a9308346fb001d057afe044c0c Mon Sep 17 00:00:00 2001 From: janrosell Date: Wed, 15 May 2019 17:31:42 +0200 Subject: [PATCH 08/10] added lost prefix in depth camera name in RealSensePlugin::Load function --- src/RealSensePlugin.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/RealSensePlugin.cpp b/src/RealSensePlugin.cpp index d0a512a..6a8cc37 100644 --- a/src/RealSensePlugin.cpp +++ b/src/RealSensePlugin.cpp @@ -69,7 +69,7 @@ void RealSensePlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf, std:: // Get Cameras Renderers this->depthCam = std::dynamic_pointer_cast( - smanager->GetSensor(DEPTH_CAMERA_NAME))->DepthCamera(); + smanager->GetSensor(prefix+"_"+DEPTH_CAMERA_NAME))->DepthCamera(); this->ired1Cam = std::dynamic_pointer_cast( smanager->GetSensor(prefix+"_"+IRED1_CAMERA_NAME)) ->Camera(); From e7f8b4ea37006e0a58f8f25f7158123d3db4188a Mon Sep 17 00:00:00 2001 From: janrosell Date: Sat, 18 May 2019 19:52:27 +0200 Subject: [PATCH 09/10] adding prefix to frame_id --- include/realsense_gazebo_plugin/gazebo_ros_realsense.h | 1 + src/RealSensePlugin.cpp | 8 ++++---- src/gazebo_ros_realsense.cpp | 9 ++++++--- 3 files changed, 11 insertions(+), 7 deletions(-) diff --git a/include/realsense_gazebo_plugin/gazebo_ros_realsense.h b/include/realsense_gazebo_plugin/gazebo_ros_realsense.h index 3cebd63..28cfe3e 100644 --- a/include/realsense_gazebo_plugin/gazebo_ros_realsense.h +++ b/include/realsense_gazebo_plugin/gazebo_ros_realsense.h @@ -42,6 +42,7 @@ namespace gazebo /// \brief A pointer to the ROS node. /// A node will be instantiated if it does not exist. protected: ros::NodeHandle* rosnode_; + public: std::string prefix; private: image_transport::ImageTransport* itnode_; protected: image_transport::CameraPublisher color_pub_, ir1_pub_, ir2_pub_, depth_pub_; diff --git a/src/RealSensePlugin.cpp b/src/RealSensePlugin.cpp index 6a8cc37..9d3a2e5 100644 --- a/src/RealSensePlugin.cpp +++ b/src/RealSensePlugin.cpp @@ -69,15 +69,15 @@ void RealSensePlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf, std:: // Get Cameras Renderers this->depthCam = std::dynamic_pointer_cast( - smanager->GetSensor(prefix+"_"+DEPTH_CAMERA_NAME))->DepthCamera(); + smanager->GetSensor(prefix+DEPTH_CAMERA_NAME))->DepthCamera(); this->ired1Cam = std::dynamic_pointer_cast( - smanager->GetSensor(prefix+"_"+IRED1_CAMERA_NAME)) + smanager->GetSensor(prefix+IRED1_CAMERA_NAME)) ->Camera(); this->ired2Cam = std::dynamic_pointer_cast( - smanager->GetSensor(prefix+"_"+IRED2_CAMERA_NAME)) + smanager->GetSensor(prefix+IRED2_CAMERA_NAME)) ->Camera(); this->colorCam = std::dynamic_pointer_cast( - smanager->GetSensor(prefix+"_"+COLOR_CAMERA_NAME)) + smanager->GetSensor(prefix+COLOR_CAMERA_NAME)) ->Camera(); // Check if camera renderers have been found successfuly diff --git a/src/gazebo_ros_realsense.cpp b/src/gazebo_ros_realsense.cpp index 2546301..ec4e873 100644 --- a/src/gazebo_ros_realsense.cpp +++ b/src/gazebo_ros_realsense.cpp @@ -1,6 +1,8 @@ #include "realsense_gazebo_plugin/gazebo_ros_realsense.h" #include + + namespace { std::string extractCameraName(const std::string& name); @@ -32,7 +34,8 @@ void GazeboRosRealsense::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } ROS_INFO("Realsense Gazebo ROS plugin loading."); - RealSensePlugin::Load(_model, _sdf, this->GetHandle()); + prefix = this->GetHandle()+"_"; + RealSensePlugin::Load(_model, _sdf, prefix); this->rosnode_ = new ros::NodeHandle(this->GetHandle()); @@ -63,7 +66,7 @@ void GazeboRosRealsense::OnNewFrame(const rendering::CameraPtr cam, const auto image_pub = camera_publishers.at(camera_id); // copy data into image - this->image_msg_.header.frame_id = camera_id; + this->image_msg_.header.frame_id = prefix+camera_id; this->image_msg_.header.stamp.sec = current_time.sec; this->image_msg_.header.stamp.nsec = current_time.nsec; @@ -101,7 +104,7 @@ void GazeboRosRealsense::OnNewDepthFrame() RealSensePlugin::OnNewDepthFrame(); // copy data into image - this->depth_msg_.header.frame_id = COLOR_CAMERA_NAME; + this->depth_msg_.header.frame_id = prefix+COLOR_CAMERA_NAME; this->depth_msg_.header.stamp.sec = current_time.sec; this->depth_msg_.header.stamp.nsec = current_time.nsec; From 241d479a35cb80bd6f5fad2dad567ec2f671046a Mon Sep 17 00:00:00 2001 From: janrosell Date: Sun, 19 May 2019 11:29:10 +0200 Subject: [PATCH 10/10] adding example using two cameras --- launch/two_realsense_chessboard.rviz | 174 ++++ ...o_realsense_chessboard_gazebo_spawn.launch | 32 + launch/two_realsense_chessboard_rviz.launch | 21 + models/chessboard2/chessboard2.sdf | 65 ++ models/chessboard2/meshes/chessboard.svg | 911 ++++++++++++++++++ models/chessboard2/meshes/chessboard2.dae | 225 +++++ models/chessboard2/meshes/chessboard2.png | Bin 0 -> 28643 bytes models/chessboard2/meshes/chessboard2a.png | Bin 0 -> 986 bytes models/chessboard2/model.config | 15 + urdf/chessboard_cameras_cell.urdf.xacro | 13 + 10 files changed, 1456 insertions(+) create mode 100644 launch/two_realsense_chessboard.rviz create mode 100644 launch/two_realsense_chessboard_gazebo_spawn.launch create mode 100644 launch/two_realsense_chessboard_rviz.launch create mode 100644 models/chessboard2/chessboard2.sdf create mode 100644 models/chessboard2/meshes/chessboard.svg create mode 100644 models/chessboard2/meshes/chessboard2.dae create mode 100644 models/chessboard2/meshes/chessboard2.png create mode 100644 models/chessboard2/meshes/chessboard2a.png create mode 100644 models/chessboard2/model.config create mode 100644 urdf/chessboard_cameras_cell.urdf.xacro diff --git a/launch/two_realsense_chessboard.rviz b/launch/two_realsense_chessboard.rviz new file mode 100644 index 0000000..62359f9 --- /dev/null +++ b/launch/two_realsense_chessboard.rviz @@ -0,0 +1,174 @@ +Panels: + - Class: rviz/Displays + Help Height: 278 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + Splitter Ratio: 0.6350210905075073 + Tree Height: 1317 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Camera +Preferences: + PromptSaveOnExit: true +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /left_rs200/camera/color/image_raw + Name: Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Visibility: + Camera: true + Grid: true + TF: true + Value: true + Zoom Factor: 1 + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + left_rs200_color: + Value: true + right_rs200_color: + Value: true + world: + Value: true + Marker Scale: 0.30000001192092896 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + left_rs200_color: + {} + right_rs200_color: + {} + Update Interval: 0 + Value: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /right_rs200/camera/color/image_raw + Name: Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Visibility: + Camera: true + Grid: true + TF: true + Value: true + Zoom Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.4991731643676758 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.008180774748325348 + Y: -0.010322336107492447 + Z: 0.20774713158607483 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5997961759567261 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.9690325260162354 + Saved: ~ +Window Geometry: + "&Camera": + collapsed: false + "&Displays": + collapsed: false + "&Time": + collapsed: false + C&amera: + collapsed: false + Height: 2027 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3840 + X: 0 + Y: 0 diff --git a/launch/two_realsense_chessboard_gazebo_spawn.launch b/launch/two_realsense_chessboard_gazebo_spawn.launch new file mode 100644 index 0000000..84801d5 --- /dev/null +++ b/launch/two_realsense_chessboard_gazebo_spawn.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/two_realsense_chessboard_rviz.launch b/launch/two_realsense_chessboard_rviz.launch new file mode 100644 index 0000000..86fb1db --- /dev/null +++ b/launch/two_realsense_chessboard_rviz.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/models/chessboard2/chessboard2.sdf b/models/chessboard2/chessboard2.sdf new file mode 100644 index 0000000..68cf422 --- /dev/null +++ b/models/chessboard2/chessboard2.sdf @@ -0,0 +1,65 @@ + + + + 0 + + + + 0.05 + + 0.000015 + 0.0 + 0.0 + 0.000015 + 0.0 + 0.0000108 + + + + + 0 0 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+ + + + Blender User + Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08 + + 2016-09-12T13:44:38 + 2016-09-12T13:44:38 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + chessboard2.png + + + + + + + + chessboard_png + + + + + chessboard_png-surface + + + + + + 1 1 1 1 + + + 0 0 0 1 + + + + + + 0.5 0.5 0.5 1 + + + 75 + + + 1 + + + + + + + + + + + + + + + + -0.02499997 -0.02499997 -0.02499997 -0.02499997 -0.02499997 0.02499997 -0.02499997 0.02499997 -0.02499997 -0.02499997 0.02499997 0.02499997 0.02499997 -0.02499997 -0.02499997 0.02499997 -0.02499997 0.02499997 0.02499997 0.02499997 -0.02499997 0.02499997 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