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Add thermal camera to Marble HD2 #773

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merged 8 commits into from
Feb 11, 2021
Merged

Add thermal camera to Marble HD2 #773

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07e892d
starting to add thermal camera to marble_hd2_sensor_config_1
adlarkin Feb 1, 2021
87d887f
add optical frame publisher, camera info topic, and more thermal came…
adlarkin Feb 2, 2021
f24adf0
fix topic mapping (#776)
iche033 Feb 3, 2021
f41529e
add thermal camera visual, fix location and textures
adlarkin Feb 3, 2021
852c911
update hfov assuming degrees in spec
adlarkin Feb 3, 2021
89ed576
break out thermal camera addition to HD2 configs 3 and 4
adlarkin Feb 3, 2021
cc903a3
set thermal default to 0 for HD2 vehicle_topics.launch
adlarkin Feb 3, 2021
28f094d
New config with thermal camera: CERBERUS_M100_SENSOR_CONFIG_2 (#777)
iche033 Feb 11, 2021
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27 changes: 27 additions & 0 deletions submitted_models/marble_hd2_sensor_config_1/launch/vehicle_topics.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -256,6 +256,33 @@
<remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
</node>

<!-- Thermal Camera -->
<!-- Note camera_info topic generated by ign-gazebo incorrectly removes
sensor name in topic string -->
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_thermal_camera"
args="$(arg sensor_prefix)/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
<remap from="$(arg sensor_prefix)/camera_info" to="thermal_camera/camera_info"/>
</node>
<node
pkg="ros_ign_image"
type="image_bridge"
name="ros_ign_image_thermal_camera"
args="$(arg sensor_prefix)/thermal_camera">
<remap from="$(arg sensor_prefix)/thermal_camera" to="thermal_camera/image_raw"/>
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_image_thermal_camera">
<remap from="input/image" to="thermal_camera/image_raw" />
<remap from="output/image" to="thermal_camera/optical/image_raw" />
<remap from="input/camera_info" to="thermal_camera/camera_info" />
<remap from="output/camera_info" to="thermal_camera/optical/camera_info" />
</node>

<group if="$(arg breadcrumbs)">
<node
pkg="ros_ign_bridge"
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73 changes: 55 additions & 18 deletions submitted_models/marble_hd2_sensor_config_1/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@
<pose>0 0 -0.135 0 0 1.57</pose>
<geometry>
<mesh>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/meshes/hd2.dae</uri>
<uri>meshes/hd2.dae</uri>
<submesh>
<name>Body</name>
<center>false</center>
Expand All @@ -154,20 +154,57 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Roughness.png</roughness_map>
<albedo_map>materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/scripts/</uri>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/</uri>
<uri>materials/scripts/</uri>
<uri>materials/textures/</uri>
<name>HD/HD2_Diffuse</name>
</script>
</material>
</visual>

<!-- 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>1.047</horizontal_fov>
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<lens>
<intrinsics>
<!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
<fx>332.62963</fx>
<fy>332.62963</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>
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</camera>
<always_on>1</always_on>
<update_rate>25</update_rate>
</sensor>
<!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
<sensor name="camera_front" type="rgbd_camera">
<camera name="camera_front">
Expand Down Expand Up @@ -895,7 +932,7 @@
<pose>0 0 0 0 0 1.57</pose>
<geometry>
<mesh>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/meshes/hd2.dae</uri>
<uri>meshes/hd2.dae</uri>
<submesh>
<name>CameraPivot</name>
<center>true</center>
Expand All @@ -907,14 +944,14 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Roughness.png</roughness_map>
<albedo_map>materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.png</roughness_map>
</metal>
</pbr>
<script>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/scripts/</uri>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/</uri>
<uri>materials/scripts/</uri>
<uri>materials/textures/</uri>
<name>HD2/HD2_Diffuse</name>
</script>
</material>
Expand Down Expand Up @@ -957,7 +994,7 @@
<pose>0.005 0.015 0.038 0 0 -1.570796</pose>
<geometry>
<mesh>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/meshes/hd2.dae</uri>
<uri>meshes/hd2.dae</uri>
<submesh>
<name>CameraTilt</name>
<center>true</center>
Expand All @@ -969,15 +1006,15 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/HD2_Roughness.png</roughness_map>
<albedo_map>materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/scripts/</uri>
<uri>model://MARBLE_HD2_SENSOR_CONFIG_1/materials/textures/</uri>
<uri>materials/scripts/</uri>
<uri>materials/textures/</uri>
<name>HD/HD2_Diffuse</name>
</script>
</material>
Expand Down