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YusukeKatoYusukeKato
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シミュレータ環境でscanトピックをpublish (#52)
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3 files changed

+67
-63
lines changed

3 files changed

+67
-63
lines changed

‎urdf/raspimouse.urdf.xacro‎

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@@ -143,6 +143,10 @@
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robot_namespace="$(arg sensor_namespace)"
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robotdescription_namespace="$(arg robot_namespace)" />
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</xacro:if>
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<xacro:if value="$(arg use_gazebo)">
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<xacro:if value="${'$(arg lidar)' == 'urg'}">
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<xacro:lidar_gazebo sensor_link_name="$(arg lidar_frame)" base_rad="0" rad_range="4.71" min_range="0.10" max_range="5.6" />
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</xacro:if>

‎urdf/sensors/lidar.gazebo.xacro‎

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@@ -3,8 +3,12 @@
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<xacro:macro name="lidar_gazebo" params="sensor_link_name base_rad rad_range min_range max_range">
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<gazebo reference="${sensor_link_name}">
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<sensor type="ray" name="${sensor_link_name}_sensor">
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<pose>0 0 0 0 0 0</pose>
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<sensor type="gpu_lidar" name="${sensor_link_name}_sensor">
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<pose relative_to='${sensor_link_name}'>0 0 0 0 0 0</pose>
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<ignition_frame_id>${sensor_link_name}</ignition_frame_id>
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<frame_id>${sensor_link_name}</frame_id>
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<topic>scan</topic>
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<always_on>1</always_on>
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<visualize>$(arg laser_visual)</visualize>
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<update_rate>10</update_rate>
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<ray>
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<stddev>0.03</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_${sensor_link_name}_controller" filename="libgazebo_ros_laser.so">
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<topicName>scan</topicName>
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<frameName>${sensor_link_name}</frameName>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>

‎urdf/sensors/rgb_camera.xacro‎

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@@ -11,63 +11,63 @@
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camera_downward
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">
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<xacro:if value="$(arg use_rgb_camera)">
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<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
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<xacro:if value="$(arg camera_downward)">
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<xacro:sensor_d435
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parent="base_link"
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use_nominal_extrinsics="false"
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add_plug="false"
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use_mesh="true">
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<origin xyz="0.08 0.0 0.055" rpy="0 ${DOWNWARD_CAMERA_ANGLE} 0"/>
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</xacro:sensor_d435>
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<xacro:if value="$(arg use_rgb_camera)">
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<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
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<xacro:if value="$(arg camera_downward)">
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<xacro:sensor_d435
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parent="base_link"
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use_nominal_extrinsics="false"
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add_plug="false"
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use_mesh="true">
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<origin xyz="0.08 0.0 0.055" rpy="0 ${DOWNWARD_CAMERA_ANGLE} 0"/>
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</xacro:sensor_d435>
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</xacro:if>
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<xacro:unless value="$(arg camera_downward)">
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<xacro:sensor_d435
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parent="base_link"
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use_nominal_extrinsics="false"
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add_plug="false"
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use_mesh="true">
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<origin xyz="0.08 0.0 0.055" rpy="0 0 0"/>
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</xacro:sensor_d435>
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</xacro:unless>
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<xacro:if value="${use_gazebo}">
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<gazebo>
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<plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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</gazebo>
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<gazebo reference="camera_link">
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<sensor name="camera_link" type="camera">
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<update_rate>30.0</update_rate>
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<always_on>true</always_on>
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<ignition_frame_id>camera_link</ignition_frame_id>
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<xacro:if value="${camera_downward}">
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<pose>0 0 0 0 ${DOWNWARD_CAMERA_ANGLE} 0</pose>
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</xacro:if>
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<xacro:unless value="${camera_downward}">
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<pose>0 0 0 0 0 0</pose>
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</xacro:unless>
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<topic>/camera/color/image_raw</topic>
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<camera name="rgb_camera">
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<horizontal_fov>1.20428</horizontal_fov>
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<image>
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<width>1920</width>
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<height>1080</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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</camera>
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</sensor>
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</gazebo>
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</xacro:if>
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</xacro:if>
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<xacro:unless value="$(arg camera_downward)">
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<xacro:sensor_d435
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parent="base_link"
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use_nominal_extrinsics="false"
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add_plug="false"
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use_mesh="true">
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<origin xyz="0.08 0.0 0.055" rpy="0 0 0"/>
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</xacro:sensor_d435>
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</xacro:unless>
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</xacro:if>
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<xacro:if value="${use_gazebo}">
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<gazebo>
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<plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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</gazebo>
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<gazebo reference="camera_link">
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<sensor name="camera_link" type="camera">
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<update_rate>30.0</update_rate>
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<always_on>true</always_on>
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<ignition_frame_id>camera_link</ignition_frame_id>
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<xacro:if value="${camera_downward}">
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<pose>0 0 0 0 ${DOWNWARD_CAMERA_ANGLE} 0</pose>
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</xacro:if>
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<xacro:unless value="${camera_downward}">
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<pose>0 0 0 0 0 0</pose>
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</xacro:unless>
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<topic>/camera/color/image_raw</topic>
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<camera name="rgb_camera">
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<horizontal_fov>1.20428</horizontal_fov>
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<image>
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<width>1920</width>
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<height>1080</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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</camera>
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</sensor>
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</gazebo>
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</xacro:if>
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</xacro:macro>
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</xacro:macro>
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</robot>

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