Add thermal camera to Marble HD2

[adlarkin]

This adds two new sensor configurations to MARBLE HD2:

• sensor configuration 3: same as configuration 1, but with a thermal camera
• sensor configuration 4: same as configuration 2, but with a thermal camera

Camera specifications were retrieved from:

• https://www.oasisscientific.com/store/p504/Vividia_HTi_HT-301_Manual_Focus_Thermal_Imaging_Camera_for_Android_Phone_and_Tablet_with_IR_Resolution_384x288.html
• https://hti-instrument.com/products/ht-301-mobile-phone-thermal-imager (for field of view information)

Below shows the code to be added to these fuel model's model.sdf files, and where this camera would end up on the robot with this code snippet added in:

      <!-- thermal camera -->
      <visual name="thermal_camera_visual">
        <pose>0.435 -.01 0.125 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.025 0.025</size>
          </box>
        </geometry>
      </visual>
      <sensor name="thermal_camera" type="thermal">
        <pose>0.435 -.01 0.125 0 0 0</pose>
        <camera name="thermal_camera">
          <horizontal_fov>0.4922</horizontal_fov>
          <lens>
            <intrinsics>
              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
              <fx>764.35630</fx>
              <fy>764.35630</fy>
              <!-- cx = ( width + 1 ) / 2 -->
              <cx>192.5</cx>
              <!-- cy = ( height + 1 ) / 2 -->
              <cy>144.5</cy>
              <s>0</s>
            </intrinsics>
          </lens>
          <image>
            <width>384</width>
            <height>288</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>25</update_rate>
      </sensor>

Signed-off-by: Ashton Larkin [email protected]

[osrf-jenkins]

Build finished. 21 tests run, 0 skipped, 1 failed.

[osrf-jenkins]

Build finished. 21 tests run, 0 skipped, 1 failed.

[iche033]

It looks like the ignition side is missing the thermal camera's camera_info topic.

The info topic is published through this call:
https://github.com/ignitionrobotics/ign-sensors/blob/ign-sensors4/src/ThermalCameraSensor.cc#L217

so looks like something went wrong there. I'll look into it tomorrow

I see data coming through ign topic. Did you add IGN_TRANSPORT_TOPIC_STATISTICS=1 ?

After removing the /image suffix from $(arg sensor_prefix)/thermal_camera/image in vehicle_topics.launch, I see data coming through on ros side.

[osrf-jenkins]

Build finished. 21 tests run, 0 skipped, 1 failed.

[osrf-jenkins]

Build finished. 21 tests run, 0 skipped, 1 failed.

[osrf-jenkins]

Build finished. 21 tests run, 0 skipped, 1 failed.

[osrf-jenkins]

Build finished. 21 tests run, 0 skipped, 1 failed.

[osrf-jenkins]

Build finished. 21 tests run, 0 skipped, 1 failed.

[adlarkin]

@iche033 I just tested both configs 3 and 4, they are working for me.

[iche033]

works for me. I see thermal data in rviz for both config_3 and config_4

[nkoenig]

The Fuel models have been updated to use:

      <sensor name="thermal_camera" type="thermal">
        <pose>0.435 -.01 0.125 0 0 0</pose>
        <camera name="thermal_camera">
          <horizontal_fov>0.4922</horizontal_fov>
          <lens>
            <intrinsics>
              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
              <fx>764.35630</fx>
              <fy>764.35630</fy>
              <!-- cx = ( width + 1 ) / 2 -->
              <cx>192.5</cx>
              <!-- cy = ( height + 1 ) / 2 -->
              <cy>144.5</cy>
              <s>0</s>
            </intrinsics>
          </lens>
          <image>
            <width>384</width>
            <height>288</height>
            <format>L8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>25</update_rate>
        <plugin
          filename="ignition-gazebo-thermal-sensor-system"
          name="ignition::gazebo::systems::ThermalSensor">
          <min_temp>253.15</min_temp>
          <max_temp>673.15</max_temp>
        </plugin>
      </sensor>

[osrf-jenkins]

Build finished. 21 tests run, 0 skipped, 1 failed.

[peci1]

The thermocam got lost from Fuel... #821.