From f3656354c737f421a8fad91bd26b5a7cbb8ddb80 Mon Sep 17 00:00:00 2001 From: Marton Juhasz Date: Thu, 26 Nov 2020 11:44:03 +0100 Subject: [PATCH] D435 and R200 --- CMakeLists.txt | 64 ++-- README.md | 54 +++- cfg/SensorModel.cfg | 14 - doc/d435.png | Bin 0 -> 204951 bytes .../realsense_gazebo_plugin/RealSensePlugin.h | 145 +++++---- .../gazebo_ros_realsense.h | 76 +++-- launch/description.launch | 6 + meshes/realsense_d435.stl | Bin 0 -> 11559384 bytes .../materials/textures/realsense_diffuse.png | Bin .../meshes/realsense.dae | 0 .../model.config | 0 .../model.sdf | 0 package.xml | 54 ++-- src/RealSensePlugin.cpp | 215 ++++++++----- src/gazebo_ros_realsense.cpp | 276 ++++++++++++----- srv/SetBias.srv | 2 - urdf/test.xacro | 47 ++- xacro/depthcam.xacro | 283 +++++++++++++++++- xacro/inertia_calc.xacro | 22 ++ 19 files changed, 891 insertions(+), 367 deletions(-) delete mode 100644 cfg/SensorModel.cfg create mode 100644 doc/d435.png create mode 100644 launch/description.launch create mode 100644 meshes/realsense_d435.stl rename meshes/{realsense_camera => realsense_r200}/materials/textures/realsense_diffuse.png (100%) rename meshes/{realsense_camera => realsense_r200}/meshes/realsense.dae (100%) rename meshes/{realsense_camera => realsense_r200}/model.config (100%) rename meshes/{realsense_camera => realsense_r200}/model.sdf (100%) delete mode 100644 srv/SetBias.srv create mode 100644 xacro/inertia_calc.xacro diff --git a/CMakeLists.txt b/CMakeLists.txt index c8d1030..f631c51 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,38 +1,54 @@ cmake_minimum_required(VERSION 2.8.3) project(realsense_ros_gazebo) -find_package(catkin REQUIRED COMPONENTS roscpp std_msgs std_srvs geometry_msgs nav_msgs tf dynamic_reconfigure message_generation) -include_directories(include ${catkin_INCLUDE_DIRS}) - -if(POLICY CMP0054) - cmake_policy(SET CMP0054 NEW) -endif() - -find_package(gazebo REQUIRED) -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") -include_directories(${GAZEBO_INCLUDE_DIRS}) -link_directories(${GAZEBO_LIBRARY_DIRS}) +find_package(catkin REQUIRED COMPONENTS + gazebo_dev + gazebo_msgs + roscpp + nodelet + sensor_msgs + urdf + tf + tf2_ros + rosconsole + diagnostic_updater + std_msgs + gazebo_ros + image_transport + camera_info_manager +) find_package(Boost REQUIRED COMPONENTS thread) -include_directories(${Boost_INCLUDE_DIRS}) - -add_service_files( - FILES - SetBias.srv -) +# find_package(gazebo REQUIRED) -generate_messages( - DEPENDENCIES geometry_msgs +include_directories(include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) -generate_dynamic_reconfigure_options( - cfg/SensorModel.cfg +link_directories( + ${catkin_LIBRARY_DIRS} ) catkin_package( - CATKIN_DEPENDS roscpp std_msgs geometry_msgs nav_msgs tf message_runtime - INCLUDE_DIRS include - LIBRARIES + INCLUDE_DIRS include + LIBRARIES + CATKIN_DEPENDS + message_runtime + gazebo_msgs + roscpp + nodelet + geometry_msgs + sensor_msgs + urdf + tf + tf2_ros + rosconsole + std_msgs + gazebo_ros + image_transport + camera_info_manager ) ########### diff --git a/README.md b/README.md index 143f244..3325f3f 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,10 @@ -# realsense_ros_gazebo -Intel Realsense Tracking and Depth camera simulations +# Intel RealSense Gazebo/ROS +Intel Realsense Tracking and Depth camera simulations and URDF macros. + + + +## RealSense T265 ## -# Realsense T265 # ![](doc/t265.png) ### Usage ### @@ -14,20 +17,15 @@ Intel Realsense Tracking and Depth camera simulations ``` ### Publishers ### -* /camera/**fisheye1**/camera_info -* /camera/fisheye1/image_raw -* /camera/fisheye1/image_raw/compressed -* /camera/fisheye1/parameter_descriptions -* /camera/fisheye1/parameter_updates -* /camera/fisheye2/camera_info -* /camera/fisheye2/image_raw -* /camera/fisheye2/image_raw/compressed -* /camera/fisheye2/parameter_descriptions -* /camera/fisheye2/parameter_updates +* /camera/**fisheye1**/* +* /camera/**fisheye2**/* * /camera/**gyro**/sample _( accel and gyro are in the same imu message )_ * /camera/**odom**/sample -# Realsense R200 # + + +## RealSense R200 ## + ![](doc/r200.png) ### Usage ### @@ -41,4 +39,30 @@ Intel Realsense Tracking and Depth camera simulations ### Publishers ### -:construction: +* /camera/**color**/* +* /camera/**depth**/* +* /camera/**infra1**/* +* /camera/**infra2**/* + + + +## RealSense D435 + +![](doc/d435.png) + +### Usage ### + +```xml + + + + + +``` + +### Publishers ### + +* /camera/**color**/* +* /camera/**depth**/* +* /camera/**infra1**/* +* /camera/**infra2**/* \ No newline at end of file diff --git a/cfg/SensorModel.cfg b/cfg/SensorModel.cfg deleted file mode 100644 index 53b9a7f..0000000 --- a/cfg/SensorModel.cfg +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "nowtech_sensor_models" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("gaussian_noise", double_t, 1, 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