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New config with thermal camera: MARBLE_HUSKY_SENSOR_CONFIG_3 and MARBLE_HUSKY_SENSOR_CONFIG_4 #779

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merged 6 commits into from
Feb 11, 2021
Merged

New config with thermal camera: MARBLE_HUSKY_SENSOR_CONFIG_3 and MARBLE_HUSKY_SENSOR_CONFIG_4 #779

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55fc3a7
add thermal camera to marble husky
adlarkin Feb 3, 2021
6a05b53
new marble husky config 3 with thermal camera
iche033 Feb 3, 2021
629004f
reuse config_1 files, add config_4
iche033 Feb 3, 2021
7ec7088
add config_4 files
iche033 Feb 3, 2021
fe0a29b
remove thermal camera from config_1
iche033 Feb 3, 2021
8db0685
remove files
iche033 Feb 3, 2021
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30 changes: 30 additions & 0 deletions submitted_models/marble_husky_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -9,6 +9,7 @@
<arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
<arg name="gimbal_sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/tilt_gimbal_link/sensor"/>
<arg name="breadcrumbs" default="0"/>
<arg name="thermal" default="0"/>
<group ns="$(arg name)">
<!--Create multipe bridges so that it can run in parallel-->
<node
Expand Down Expand Up @@ -258,6 +259,35 @@
<remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
</node>

<group if="$(arg thermal)">
<!-- Thermal Camera -->
<!-- Note camera_info topic generated by ign-gazebo incorrectly removes
sensor name in topic string -->
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_thermal_camera"
args="$(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>

<group if="$(arg breadcrumbs)">
<node
pkg="ros_ign_bridge"
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1 change: 1 addition & 0 deletions submitted_models/marble_husky_sensor_config_1/model.sdf
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Expand Up @@ -269,6 +269,7 @@
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>

<!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
<sensor name="camera_front" type="rgbd_camera">
<camera name="camera_front">
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8 changes: 8 additions & 0 deletions submitted_models/marble_husky_sensor_config_3/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(marble_husky_sensor_config_3)

find_package(catkin REQUIRED)

catkin_package()

install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
104 changes: 104 additions & 0 deletions submitted_models/marble_husky_sensor_config_3/launch/spawner.rb
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def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
<include>
<name>#{_name}</name>
<uri>#{_modelURI}</uri>
<!-- Diff drive -->
<plugin filename="libignition-gazebo-diff-drive-system.so"
name="ignition::gazebo::systems::DiffDrive">
<left_joint>front_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>#{0.45649 * 1.5}</wheel_separation>
<wheel_radius>0.1651</wheel_radius>
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-3</min_acceleration>
<max_acceleration>3</max_acceleration>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$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>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
<battery_name>linear_battery</battery_name>
<voltage>12.694</voltage>
<open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
<initial_charge>78.4</initial_charge>
<capacity>78.4</capacity>
<resistance>0.061523</resistance>
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>6.6</power_load>
<start_on_motion>true</start_on_motion>
</plugin>
<!-- Gas Sensor plugin -->"
<plugin filename="libGasEmitterDetectorPlugin.so"
name="subt::GasDetector">
<topic>/model/#{_name}/gas_detected</topic>
<update_rate>10</update_rate>
<type>gas</type>
</plugin>
<!-- Wheel slip -->
<plugin filename="libignition-gazebo-wheel-slip-system.so"
name="ignition::gazebo::systems::WheelSlip">
<wheel link_name="front_left_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="rear_left_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="front_right_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="rear_right_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
</plugin>
</include>
</sdf>
</spawn>
HEREDOC
end

def rosExecutables(_name, _worldName)
<<-HEREDOC
<executable name='robot_description'>
<command>roslaunch --wait marble_husky_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
<executable name='topics'>
<command>roslaunch --wait marble_husky_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} thermal:=1</command>
</executable>
HEREDOC
end
27 changes: 27 additions & 0 deletions submitted_models/marble_husky_sensor_config_3/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>marble_husky_sensor_config_3</name>
<version>0.1.0</version>
<description>The marble_husky_sensor_config_3 package
- Has two rgbd camera Realsense D435
- An RP Lidar S1
- OS1-64 3D Laser C
- IMU
- gas sensor
- A pan/tilt gimbal (Trossen Dynamixel MX-64) with a Realsense D435
and 100 W laser mounted on it
- A planar lidar (RPLidar S1)
- A microstrain 3DMGX5-25 IMU (AHRS)
- A Vividia HTI-301 LWIR thermal camera
- Weight: about 85 lbs
</description>
<maintainer email="[email protected]">Brett A. Fotheringham</maintainer>
<author email="[email protected]">Derek Vasquez</author>
<author email="[email protected]">Neil Johnson</author>
<author email="[email protected]">Hector Escobar</author>
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>

</package>
8 changes: 8 additions & 0 deletions submitted_models/marble_husky_sensor_config_4/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(marble_husky_sensor_config_4)

find_package(catkin REQUIRED)

catkin_package()

install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
121 changes: 121 additions & 0 deletions submitted_models/marble_husky_sensor_config_4/launch/spawner.rb
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def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
<include>
<name>#{_name}</name>
<uri>#{_modelURI}</uri>
<!-- Diff drive -->
<plugin filename="libignition-gazebo-diff-drive-system.so"
name="ignition::gazebo::systems::DiffDrive">
<left_joint>front_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>#{0.45649 * 1.5}</wheel_separation>
<wheel_radius>0.1651</wheel_radius>
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-3</min_acceleration>
<max_acceleration>3</max_acceleration>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$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>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
<battery_name>linear_battery</battery_name>
<voltage>12.694</voltage>
<open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
<initial_charge>78.4</initial_charge>
<capacity>78.4</capacity>
<resistance>0.061523</resistance>
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>6.6</power_load>
<start_on_motion>true</start_on_motion>
</plugin>
<!-- Gas Sensor plugin -->"
<plugin filename="libGasEmitterDetectorPlugin.so"
name="subt::GasDetector">
<topic>/model/#{_name}/gas_detected</topic>
<update_rate>10</update_rate>
<type>gas</type>
</plugin>
<plugin filename="libignition-gazebo-breadcrumbs-system.so"
name="ignition::gazebo::systems::Breadcrumbs">
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
<pose>-0.45 0 0 0 0 0</pose>
<include>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
</include>
</model>
</sdf>
</breadcrumb>
</plugin>
<!-- Wheel slip -->
<plugin filename="libignition-gazebo-wheel-slip-system.so"
name="ignition::gazebo::systems::WheelSlip">
<wheel link_name="front_left_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="rear_left_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="front_right_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="rear_right_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
</plugin>
</include>
</sdf>
</spawn>
HEREDOC
end

def rosExecutables(_name, _worldName)
<<-HEREDOC
<executable name='robot_description'>
<command>roslaunch --wait marble_husky_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
<executable name='topics'>
<command>roslaunch --wait marble_husky_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=1 thermal:=1</command>
</executable>
HEREDOC
end
28 changes: 28 additions & 0 deletions submitted_models/marble_husky_sensor_config_4/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>marble_husky_sensor_config_4</name>
<version>0.1.0</version>
<description>The marble_husky_sensor_config_4 package
- Has two rgbd camera Realsense D435
- An RP Lidar S1
- OS1-64 3D Laser C
- IMU
- gas sensor
- A pan/tilt gimbal (Trossen Dynamixel MX-64) with a Realsense D435
and 100 W laser mounted on it
- A planar lidar (RPLidar S1)
- A microstrain 3DMGX5-25 IMU (AHRS)
- 12 breadcrumbs
- A Vividia HTI-301 LWIR thermal camera
- Weight: about 85 lbs
</description>
<maintainer email="[email protected]">Brett A. Fotheringham</maintainer>
<author email="[email protected]">Derek Vasquez</author>
<author email="[email protected]">Neil Johnson</author>
<author email="[email protected]">Hector Escobar</author>
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>

</package>