Plugins can be added to any of the main elements of a URDF - a <robot>
, <link>
, or <joint>
depending on what the scope and purpose of the plugin is. when add <plugin>
to urdf we wrap it with <gazebo>
element
Adding plugin to link element
<gazebo reference="<link_name>">
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
... plugin parameters ...
</plugin>
</gazebo>
Gazebo Camera
<gazebo reference="camera_link">
<sensor type="camera" name="camera">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</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_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>bot/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_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>
Name and Topic
<sensor type="camera" name="camera">
- sensor name must be unique and used by
cameraName
<cameraName>bot/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
rostopic list
rostopic list
/bot/camera/camera_info
/bot/camera/image_raw
/bot/camera/image_raw/compressed
/bot/camera/image_raw/compressed/parameter_descriptions
/bot/camera/image_raw/compressed/parameter_updates
/bot/camera/image_raw/compressedDepth
/bot/camera/image_raw/compressedDepth/parameter_descriptions
/bot/camera/image_raw/compressedDepth/parameter_updates
/bot/camera/image_raw/theora
/bot/camera/image_raw/theora/parameter_descriptions
/bot/camera/image_raw/theora/parameter_updates
/bot/camera/parameter_descriptions
/bot/camera/parameter_updates
...
tf
The coordinate frame the image is published under in the tf tree.
<frameName>camera_link</frameName>
Test
- Terminal 1(launch gazebo)
roslaunch gazebo_ros empty_world.launch
- Terminal 2(spawn)
#from urdf path
rosrun gazebo_ros spawn_model -file camera.urdf -urdf -model bot
- Terminal 3(rqt)
rqt
# Plugins -> Visualization-> image viewer
# From combo /bot/camera/image_raw
- From gazebo add model in the front of camera
- Check view in rqt
Full urdf code
<?xml version="1.0"?>
<robot name="bot">
<!-- Camera -->
<link name="camera_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<material name="red"/>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<gazebo reference="camera_link">
<sensor type="camera" name="camera">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</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_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>bot/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_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>
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