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Add thermal camera to Marble HD2 (#773)
* starting to add thermal camera to marble_hd2_sensor_config_1 Signed-off-by: Ashton Larkin <[email protected]> * add optical frame publisher, camera info topic, and more thermal camera sensor parameters Signed-off-by: Ashton Larkin <[email protected]> * fix topic mapping (#776) Signed-off-by: Ian Chen <[email protected]> * add thermal camera visual, fix location and textures Signed-off-by: Ashton Larkin <[email protected]> * update hfov assuming degrees in spec Signed-off-by: Ashton Larkin <[email protected]> * break out thermal camera addition to HD2 configs 3 and 4 Signed-off-by: Ashton Larkin <[email protected]> * set thermal default to 0 for HD2 vehicle_topics.launch Signed-off-by: Ashton Larkin <[email protected]> * New config with thermal camera: CERBERUS_M100_SENSOR_CONFIG_2 (#777) * adding thermal camera to cerberus m100 Signed-off-by: Ian Chen <[email protected]> * fix bridge Signed-off-by: Ian Chen <[email protected]> * update thermal camera spec Signed-off-by: Ian Chen <[email protected]> * new config_2 Signed-off-by: Ian Chen <[email protected]> * remove config_2 Signed-off-by: Ian Chen <[email protected]> * reuse config_1 files Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Ian Chen <[email protected]>
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submitted_models/cerberus_m100_sensor_config_2/CMakeLists.txt
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| cmake_minimum_required(VERSION 2.8.3) | ||
| project(cerberus_m100_sensor_config_2) | ||
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| find_package(catkin REQUIRED) | ||
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| catkin_package() | ||
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| install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |
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submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb
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| def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) | ||
| <<-HEREDOC | ||
| _config=8 | ||
| uav=1 | ||
| laserScan=0 | ||
| stereoCam=0 | ||
| rgbdCam=0 | ||
| if _config == "2" | ||
| rgbdCam=1 | ||
| end | ||
| if _config == "3" or _config == "4" | ||
| laserScan=1 | ||
| end | ||
| if _config == "5" | ||
| stereoCam=1 | ||
| if _config == "6" | ||
| laserScan=1 | ||
| topScan=1 | ||
| bottomScan=1 | ||
| rgbdCam=1 | ||
| end | ||
| if _config == "8" | ||
| laserScan=1 | ||
| topScan=1 | ||
| bottomScan=1 | ||
| rgbdCam=1 | ||
| end | ||
| <spawn name="${_name}"> | ||
| <name>#{_name}</name> | ||
| <allow_renaming>false</allow_renaming> | ||
| <pose>#{_x} #{_y} #{_z + 0.187499} #{_roll} #{_pitch} #{_yaw}</pose> | ||
| <world>#{_worldName}</world> | ||
| <is_performer>true</is_performer> | ||
| <sdf version='1.6'> | ||
| <include> | ||
| <name>#{_name}</name> | ||
| <uri>#{_modelURI}</uri> | ||
| <!-- Publish robot state information --> | ||
| <plugin filename="libignition-gazebo-pose-publisher-system.so" | ||
| name="ignition::gazebo::systems::PosePublisher"> | ||
| <publish_link_pose>true</publish_link_pose> | ||
| <publish_sensor_pose>true</publish_sensor_pose> | ||
| <publish_collision_pose>false</publish_collision_pose> | ||
| <publish_visual_pose>false</publish_visual_pose> | ||
| <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> | ||
| <use_pose_vector_msg>true</use_pose_vector_msg> | ||
| <static_publisher>true</static_publisher> | ||
| <static_update_frequency>1</static_update_frequency> | ||
| </plugin> | ||
| <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" | ||
| name="ignition::gazebo::systems::MulticopterMotorModel"> | ||
| <robotNamespace>model/#{_name}</robotNamespace> | ||
| <jointName>rotor_0_joint</jointName> | ||
| <linkName>rotor_0</linkName> | ||
| <turningDirection>ccw</turningDirection> | ||
| <timeConstantUp>0.0182</timeConstantUp> | ||
| <timeConstantDown>0.0182</timeConstantDown> | ||
| <maxRotVelocity>1000.0</maxRotVelocity> | ||
| <motorConstant>0.02246</motorConstant> | ||
| <momentConstant>0.016754</momentConstant> | ||
| <commandSubTopic>command/motor_speed</commandSubTopic> | ||
| <motorNumber>0</motorNumber> | ||
| <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient> | ||
| <rollingMomentCoefficient>0</rollingMomentCoefficient> | ||
| <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic> | ||
| <rotorVelocitySlowdownSim>0.5</rotorVelocitySlowdownSim> | ||
| <motorType>velocity</motorType> | ||
| </plugin> | ||
| <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" | ||
| name="ignition::gazebo::systems::MulticopterMotorModel"> | ||
| <robotNamespace>model/#{_name}</robotNamespace> | ||
| <jointName>rotor_1_joint</jointName> | ||
| <linkName>rotor_1</linkName> | ||
| <turningDirection>ccw</turningDirection> | ||
| <timeConstantUp>0.0182</timeConstantUp> | ||
| <timeConstantDown>0.0182</timeConstantDown> | ||
| <maxRotVelocity>1000.0</maxRotVelocity> | ||
| <motorConstant>0.02246</motorConstant> | ||
| <momentConstant>0.016754</momentConstant> | ||
| <commandSubTopic>command/motor_speed</commandSubTopic> | ||
| <motorNumber>1</motorNumber> | ||
| <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient> | ||
| <rollingMomentCoefficient>0</rollingMomentCoefficient> | ||
| <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic> | ||
| <rotorVelocitySlowdownSim>0.5</rotorVelocitySlowdownSim> | ||
| <motorType>velocity</motorType> | ||
| </plugin> | ||
| <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" | ||
| name="ignition::gazebo::systems::MulticopterMotorModel"> | ||
| <robotNamespace>model/#{_name}</robotNamespace> | ||
| <jointName>rotor_2_joint</jointName> | ||
| <linkName>rotor_2</linkName> | ||
| <turningDirection>cw</turningDirection> | ||
| <timeConstantUp>0.0182</timeConstantUp> | ||
| <timeConstantDown>0.0182</timeConstantDown> | ||
| <maxRotVelocity>1000.0</maxRotVelocity> | ||
| <motorConstant>0.02246</motorConstant> | ||
| <momentConstant>0.016754</momentConstant> | ||
| <commandSubTopic>command/motor_speed</commandSubTopic> | ||
| <motorNumber>2</motorNumber> | ||
| <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient> | ||
| <rollingMomentCoefficient>0</rollingMomentCoefficient> | ||
| <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic> | ||
| <rotorVelocitySlowdownSim>0.5</rotorVelocitySlowdownSim> | ||
| <motorType>velocity</motorType> | ||
| </plugin> | ||
| <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" | ||
| name="ignition::gazebo::systems::MulticopterMotorModel"> | ||
| <robotNamespace>model/#{_name}</robotNamespace> | ||
| <jointName>rotor_3_joint</jointName> | ||
| <linkName>rotor_3</linkName> | ||
| <turningDirection>cw</turningDirection> | ||
| <timeConstantUp>0.0182</timeConstantUp> | ||
| <timeConstantDown>0.0182</timeConstantDown> | ||
| <maxRotVelocity>1000.0</maxRotVelocity> | ||
| <motorConstant>0.02246</motorConstant> | ||
| <momentConstant>0.016754</momentConstant> | ||
| <commandSubTopic>command/motor_speed</commandSubTopic> | ||
| <motorNumber>3</motorNumber> | ||
| <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient> | ||
| <rollingMomentCoefficient>0</rollingMomentCoefficient> | ||
| <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic> | ||
| <rotorVelocitySlowdownSim>0.5</rotorVelocitySlowdownSim> | ||
| <motorType>velocity</motorType> | ||
| </plugin> | ||
| <plugin | ||
| filename="libignition-gazebo-multicopter-control-system.so" | ||
| name="ignition::gazebo::systems::MulticopterVelocityControl"> | ||
| <robotNamespace>model/#{_name}</robotNamespace> | ||
| <commandSubTopic>cmd_vel</commandSubTopic> | ||
| <motorControlPubTopic>command/motor_speed</motorControlPubTopic> | ||
| <enableSubTopic>velocity_controller/enable</enableSubTopic> | ||
| <comLinkName>base_link</comLinkName> | ||
| <velocityGain>6 6 10</velocityGain> | ||
| <attitudeGain>4 4 2</attitudeGain> | ||
| <angularRateGain>0.7 0.7 0.7</angularRateGain> | ||
| <maximumLinearAcceleration>4 4 5</maximumLinearAcceleration> | ||
| <maximumLinearVelocity>3 3 1.8</maximumLinearVelocity> | ||
| <maximumAngularVelocity>3 3 1.9</maximumAngularVelocity> | ||
| <linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean> | ||
| <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., --> | ||
| <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor --> | ||
| <!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf --> | ||
| <linearVelocityNoiseStdDev>0.1105 0.1261 0.0947</linearVelocityNoiseStdDev> | ||
| <angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean> | ||
| <!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a sample --> | ||
| <!-- time of 0.004 ms. --> | ||
| <angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev> | ||
| <rotorConfiguration> | ||
| <rotor> | ||
| <jointName>rotor_0_joint</jointName> | ||
| <forceConstant>0.02246</forceConstant> | ||
| <momentConstant>1.6754e-2</momentConstant> | ||
| <direction>1</direction> | ||
| </rotor> | ||
| <rotor> | ||
| <jointName>rotor_1_joint</jointName> | ||
| <forceConstant>0.02246</forceConstant> | ||
| <momentConstant>1.6754e-2</momentConstant> | ||
| <direction>1</direction> | ||
| </rotor> | ||
| <rotor> | ||
| <jointName>rotor_2_joint</jointName> | ||
| <forceConstant>0.02246</forceConstant> | ||
| <momentConstant>1.6754e-2</momentConstant> | ||
| <direction>-1</direction> | ||
| </rotor> | ||
| <rotor> | ||
| <jointName>rotor_3_joint</jointName> | ||
| <forceConstant>0.02246</forceConstant> | ||
| <momentConstant>1.6754e-2</momentConstant> | ||
| <direction>-1</direction> | ||
| </rotor> | ||
| </rotorConfiguration> | ||
| </plugin> | ||
| <!-- Battery plugin --> | ||
| <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" | ||
| name="ignition::gazebo::systems::LinearBatteryPlugin"> | ||
| <battery_name>linear_battery</battery_name> | ||
| <voltage>22.2</voltage> | ||
| <open_circuit_voltage_constant_coef>22.2</open_circuit_voltage_constant_coef> | ||
| <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef> | ||
| <initial_charge>45.0</initial_charge> | ||
| <capacity>45.0</capacity> | ||
| <resistance>0.061523</resistance> | ||
| <smooth_current_tau>1.9499</smooth_current_tau> | ||
| <power_load>70</power_load> | ||
| <start_on_motion>true</start_on_motion> | ||
| </plugin> | ||
| <!-- Gas Detector plugin --> | ||
| <plugin filename="libGasEmitterDetectorPlugin.so" | ||
| name="subt::GasDetector"> | ||
| <topic>/model/#{_name}/gas_detected</topic> | ||
| <update_rate>10</update_rate> | ||
| <type>gas</type> | ||
| </plugin> | ||
| </include> | ||
| </sdf> | ||
| </spawn> | ||
| HEREDOC | ||
| end | ||
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| def rosExecutables(_name, _worldName) | ||
| <<-HEREDOC | ||
| <executable name='m100_description'> | ||
| <command>roslaunch --wait cerberus_m100_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command> | ||
| </executable> | ||
| <executable name='m100_ros_ign_bridge'> | ||
| <command>roslaunch --wait cerberus_m100_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} uav:=1 lidar_3d:=1 laser_scan:=0 top_scan:=0 bottom_scan:=0 stereo_cam:=0 thermal:=1</command> | ||
| </executable> | ||
| HEREDOC | ||
| end |
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submitted_models/cerberus_m100_sensor_config_2/package.xml
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| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <name>cerberus_m100_sensor_config_2</name> | ||
| <version>0.1.0</version> | ||
| <description> | ||
| The cerberus_m100_sensor_config_2 package is derived from OSRF's X4 vehicle model. | ||
| This sensor configuration has a 3D lidar (copied from the X1 3D medium range lidar) | ||
| and a thermal camera | ||
| </description> | ||
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| <author email="[email protected]">Mihir Kulkarni</author> | ||
| <author email="[email protected]">Paolo De Petris</author> | ||
| <maintainer email="[email protected]">Mihir Kulkarni</maintainer> | ||
| <maintainer email="[email protected]">Paolo De Petris</maintainer> | ||
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| <license>BSD</license> | ||
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| <buildtool_depend>catkin</buildtool_depend> | ||
| <buildtool_depend>roslaunch</buildtool_depend> | ||
| <buildtool_depend>urdf</buildtool_depend> | ||
| <buildtool_depend>xacro</buildtool_depend> | ||
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| </package> |
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