From 36a3dfca340933d439367605c27e3bd07563140a Mon Sep 17 00:00:00 2001 From: Yuri van Warmerdam Date: Wed, 6 Nov 2024 10:16:13 +0100 Subject: [PATCH 1/9] added world selection argument Signed-off-by: Yuri van Warmerdam --- rcdt_utilities/launch/gazebo_robot.launch.py | 53 ++++++++++++-------- 1 file changed, 31 insertions(+), 22 deletions(-) diff --git a/rcdt_utilities/launch/gazebo_robot.launch.py b/rcdt_utilities/launch/gazebo_robot.launch.py index 6b5c45a..f688eb1 100644 --- a/rcdt_utilities/launch/gazebo_robot.launch.py +++ b/rcdt_utilities/launch/gazebo_robot.launch.py @@ -2,36 +2,45 @@ # # SPDX-License-Identifier: Apache-2.0 -from launch.actions import IncludeLaunchDescription -from launch import LaunchDescription +from typing import List + +from launch import LaunchContext, LaunchDescription +from launch.actions import IncludeLaunchDescription, OpaqueFunction from launch_ros.actions import Node -from rcdt_utilities.launch_utils import get_file_path +from rcdt_utilities.launch_utils import LaunchArgument, get_file_path + +world_arg = LaunchArgument("world", "empty.sdf") + -gazebo = IncludeLaunchDescription( - get_file_path("ros_gz_sim", ["launch"], "gz_sim.launch.py"), - launch_arguments={"gz_args": "empty.sdf -r"}.items(), -) +def launch_setup(context: LaunchContext) -> List: + gazebo = IncludeLaunchDescription( + get_file_path("ros_gz_sim", ["launch"], "gz_sim.launch.py"), + launch_arguments={"gz_args": f" -r {world_arg.value(context)}"}.items(), + ) -spawn_robot = Node( - package="ros_gz_sim", - executable="create", - arguments=["-topic", "/robot_description"], - output="screen", -) + spawn_robot = Node( + package="ros_gz_sim", + executable="create", + arguments=["-topic", "/robot_description"], + output="screen", + ) -sync_clock = Node( - package="ros_gz_bridge", - executable="parameter_bridge", - name="sync_clock", - arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"], -) + sync_clock = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + name="sync_clock", + arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"], + ) + return [gazebo, spawn_robot, sync_clock] def generate_launch_description() -> LaunchDescription: return LaunchDescription( [ - gazebo, - spawn_robot, - sync_clock, + world_arg.declaration, + # gazebo, + # spawn_robot, + # sync_clock, + OpaqueFunction(function=launch_setup), ] ) From 2c798a18af02c9b90f803941decd6679bceb0e0e Mon Sep 17 00:00:00 2001 From: Yuri van Warmerdam Date: Mon, 11 Nov 2024 14:24:23 +0100 Subject: [PATCH 2/9] realsense stuff Signed-off-by: Yuri van Warmerdam --- rcdt_utilities/launch/gazebo_robot.launch.py | 2 +- rcdt_utilities/rviz/realsense.rviz | 192 +++++++++++++++++++ 2 files changed, 193 insertions(+), 1 deletion(-) create mode 100644 rcdt_utilities/rviz/realsense.rviz diff --git a/rcdt_utilities/launch/gazebo_robot.launch.py b/rcdt_utilities/launch/gazebo_robot.launch.py index f688eb1..ac0581b 100644 --- a/rcdt_utilities/launch/gazebo_robot.launch.py +++ b/rcdt_utilities/launch/gazebo_robot.launch.py @@ -29,7 +29,7 @@ def launch_setup(context: LaunchContext) -> List: package="ros_gz_bridge", executable="parameter_bridge", name="sync_clock", - arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"], + arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"], ) return [gazebo, spawn_robot, sync_clock] diff --git a/rcdt_utilities/rviz/realsense.rviz b/rcdt_utilities/rviz/realsense.rviz new file mode 100644 index 0000000..c77d6bd --- /dev/null +++ b/rcdt_utilities/rviz/realsense.rviz @@ -0,0 +1,192 @@ +# SPDX-FileCopyrightText: Alliander N. V. +# +# SPDX-License-Identifier: Apache-2.0 + +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 659 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /some_name/color/image_raw + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.8377578258514404 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.15223704278469086 + Y: -0.2675058841705322 + Z: 0.3384692668914795 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.32539844512939453 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.965397834777832 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1163 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000003f1fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000a00000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000031c000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000035d000000cf0000002800ffffff000000010000010f000003f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003f1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f000003f100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 3079 + Y: 115 From e7143b7b101922330cba992bf8be422a010242a3 Mon Sep 17 00:00:00 2001 From: Yuri van Warmerdam Date: Thu, 14 Nov 2024 14:57:13 +0100 Subject: [PATCH 3/9] also added realsense with sim options Signed-off-by: Yuri van Warmerdam --- rcdt_utilities/CMakeLists.txt | 2 +- .../urdf/rcdt_realsense_d435.urdf.xacro | 76 +++++++++++++++++++ 2 files changed, 77 insertions(+), 1 deletion(-) create mode 100644 rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro diff --git a/rcdt_utilities/CMakeLists.txt b/rcdt_utilities/CMakeLists.txt index 02fb9ea..eb630f1 100644 --- a/rcdt_utilities/CMakeLists.txt +++ b/rcdt_utilities/CMakeLists.txt @@ -19,7 +19,7 @@ find_package(tf2_eigen REQUIRED) # Install project files install( DIRECTORY - launch rviz + launch rviz urdf DESTINATION share/${PROJECT_NAME} ) diff --git a/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro new file mode 100644 index 0000000..317a601 --- /dev/null +++ b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + true + 30.0 + + some_name/color/image_raw + false + + name_color_optical_frame + ${69.0/180.0*pi} + + 1280 + 720 + R8G8B8 + + + 0.02 + 300.0 + + + + true + 30.0 + + ns/namespace/depth/image_rect_raw + false + + namespace_depth_optical_frame + + ${87.0/180.0*pi} + + 1280 + 720 + R_FLOAT32 + + + 0.28 + 8.0 + + + gaussian + 0.0 + 0.005 + + + + + + + + \ No newline at end of file From e218455ae1938ab5911380a140d9674dfb897429 Mon Sep 17 00:00:00 2001 From: Yuri van Warmerdam Date: Fri, 15 Nov 2024 11:10:57 +0100 Subject: [PATCH 4/9] improved parameters Signed-off-by: Yuri van Warmerdam --- rcdt_utilities/launch/realsense.launch.py | 106 ++++++++++++++++++ .../urdf/rcdt_realsense_d435.urdf.xacro | 17 +-- 2 files changed, 115 insertions(+), 8 deletions(-) create mode 100644 rcdt_utilities/launch/realsense.launch.py diff --git a/rcdt_utilities/launch/realsense.launch.py b/rcdt_utilities/launch/realsense.launch.py new file mode 100644 index 0000000..8c7bea4 --- /dev/null +++ b/rcdt_utilities/launch/realsense.launch.py @@ -0,0 +1,106 @@ +# SPDX-FileCopyrightText: Alliander N. V. +# +# SPDX-License-Identifier: Apache-2.0 + + +import os +from pathlib import Path + +from launch import LaunchDescription, LaunchContext +from launch.actions import ( + OpaqueFunction, + IncludeLaunchDescription, + SetEnvironmentVariable, +) +from launch_ros.actions import Node, SetParameter + +from ament_index_python.packages import get_package_share_directory + +from rcdt_utilities.launch_utils import ( + get_file_path, + get_robot_description, +) + +pkg_share = get_package_share_directory("rcdt_realsense") + + +def launch_setup(_context: LaunchContext) -> None: + xacro_path = get_file_path( + "rcdt_utilities", ["urdf"], "rcdt_realsense_d435.urdf.xacro" + ) + xacro_arguments = {"simulation": "true", "parent": "world"} + robot_description = get_robot_description(xacro_path, xacro_arguments) + + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[robot_description], + ) + + robot = IncludeLaunchDescription( + get_file_path("rcdt_utilities", ["launch"], "gazebo_robot.launch.py"), + launch_arguments={ + "world": "/home/yuripro/husarion_ws/src/husarion_gz_worlds/worlds/husarion_world.sdf" + }.items(), + ) + + ign_resource_path = SetEnvironmentVariable( + name="IGN_GAZEBO_RESOURCE_PATH", + value=[ + os.path.join(pkg_share, "worlds"), + ":" + str(Path(pkg_share).parent.resolve()), + ], + ) + + rgb_bridge = Node( + package="ros_gz_image", + executable="image_bridge", + arguments=[ + "/some_name/color/image_raw", + # "/camera/camera/color/image_raw" + ], + output="screen", + ) + + # sensor_msgs/msg/PointCloud2 + + # ignition::msgs::PointCloudPacked + + depth_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/ns/namespace/depth/image_rect_raw/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", + ], + output="screen", + ) + + rviz = IncludeLaunchDescription( + get_file_path("rcdt_utilities", ["launch"], "rviz.launch.py"), + launch_arguments={ + # TODO: placeholder + "rviz_frame": "/world", + "rviz_display_config": get_file_path( + "rcdt_utilities", ["rviz"], "realsense.rviz" + ), + }.items(), + ) + + return [ + SetParameter(name="use_sim_time", value=True), + ign_resource_path, + robot_state_publisher, + robot, + rgb_bridge, + depth_bridge, + rviz, + ] + + +def generate_launch_description() -> LaunchDescription: + return LaunchDescription( + [ + # simulation_arg.declaration, + OpaqueFunction(function=launch_setup), + ] + ) diff --git a/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro index 317a601..8df95f4 100644 --- a/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro +++ b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro @@ -4,11 +4,12 @@ SPDX-FileCopyrightText: Alliander N. V. SPDX-License-Identifier: Apache-2.0 --> - - - - + + + + + - + - + true @@ -70,7 +71,7 @@ SPDX-License-Identifier: Apache-2.0 - + - + \ No newline at end of file From e19afca555b493a414f4caf47971899751443797 Mon Sep 17 00:00:00 2001 From: Yuri van Warmerdam Date: Fri, 15 Nov 2024 11:11:23 +0100 Subject: [PATCH 5/9] ruff Signed-off-by: Yuri van Warmerdam --- rcdt_utilities/launch/realsense.launch.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/rcdt_utilities/launch/realsense.launch.py b/rcdt_utilities/launch/realsense.launch.py index 8c7bea4..ca8a38e 100644 --- a/rcdt_utilities/launch/realsense.launch.py +++ b/rcdt_utilities/launch/realsense.launch.py @@ -6,16 +6,14 @@ import os from pathlib import Path -from launch import LaunchDescription, LaunchContext +from ament_index_python.packages import get_package_share_directory +from launch import LaunchContext, LaunchDescription from launch.actions import ( - OpaqueFunction, IncludeLaunchDescription, + OpaqueFunction, SetEnvironmentVariable, ) from launch_ros.actions import Node, SetParameter - -from ament_index_python.packages import get_package_share_directory - from rcdt_utilities.launch_utils import ( get_file_path, get_robot_description, From 78744d9c5bd98ce9446b0f4194fe286118a0f47c Mon Sep 17 00:00:00 2001 From: Yuri van Warmerdam Date: Fri, 15 Nov 2024 11:13:34 +0100 Subject: [PATCH 6/9] cleanup Signed-off-by: Yuri van Warmerdam --- rcdt_utilities/launch/realsense.launch.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/rcdt_utilities/launch/realsense.launch.py b/rcdt_utilities/launch/realsense.launch.py index ca8a38e..e6c71a7 100644 --- a/rcdt_utilities/launch/realsense.launch.py +++ b/rcdt_utilities/launch/realsense.launch.py @@ -60,10 +60,6 @@ def launch_setup(_context: LaunchContext) -> None: output="screen", ) - # sensor_msgs/msg/PointCloud2 - - # ignition::msgs::PointCloudPacked - depth_bridge = Node( package="ros_gz_bridge", executable="parameter_bridge", From 91c0c352ed45c71758342bf3a4191dde1a5ad7bb Mon Sep 17 00:00:00 2001 From: Jelmer de Wolde Date: Mon, 18 Nov 2024 16:05:43 +0000 Subject: [PATCH 7/9] Fix topic names and depth camera. Signed-off-by: Jelmer de Wolde --- rcdt_utilities/CMakeLists.txt | 2 +- rcdt_utilities/launch/gazebo_robot.launch.py | 16 ++- rcdt_utilities/launch/realsense.launch.py | 39 +----- rcdt_utilities/rviz/realsense.rviz | 55 +++++++-- .../empty_world_with_camera_plugin.xml.sdf | 76 ++++++++++++ .../urdf/rcdt_realsense_d435.urdf.xacro | 115 ++++++++++-------- 6 files changed, 201 insertions(+), 102 deletions(-) create mode 100644 rcdt_utilities/sdf/empty_world_with_camera_plugin.xml.sdf diff --git a/rcdt_utilities/CMakeLists.txt b/rcdt_utilities/CMakeLists.txt index eb630f1..92ebc08 100644 --- a/rcdt_utilities/CMakeLists.txt +++ b/rcdt_utilities/CMakeLists.txt @@ -19,7 +19,7 @@ find_package(tf2_eigen REQUIRED) # Install project files install( DIRECTORY - launch rviz urdf + launch rviz urdf sdf DESTINATION share/${PROJECT_NAME} ) diff --git a/rcdt_utilities/launch/gazebo_robot.launch.py b/rcdt_utilities/launch/gazebo_robot.launch.py index ac0581b..ad3d573 100644 --- a/rcdt_utilities/launch/gazebo_robot.launch.py +++ b/rcdt_utilities/launch/gazebo_robot.launch.py @@ -9,7 +9,11 @@ from launch_ros.actions import Node from rcdt_utilities.launch_utils import LaunchArgument, get_file_path -world_arg = LaunchArgument("world", "empty.sdf") +default_world = get_file_path( + "rcdt_utilities", ["sdf"], "empty_world_with_camera_plugin.xml.sdf" +) + +world_arg = LaunchArgument("world", default_world) def launch_setup(context: LaunchContext) -> List: @@ -31,16 +35,18 @@ def launch_setup(context: LaunchContext) -> List: name="sync_clock", arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"], ) - return [gazebo, spawn_robot, sync_clock] + + return [ + gazebo, + spawn_robot, + sync_clock + ] def generate_launch_description() -> LaunchDescription: return LaunchDescription( [ world_arg.declaration, - # gazebo, - # spawn_robot, - # sync_clock, OpaqueFunction(function=launch_setup), ] ) diff --git a/rcdt_utilities/launch/realsense.launch.py b/rcdt_utilities/launch/realsense.launch.py index e6c71a7..a8ee986 100644 --- a/rcdt_utilities/launch/realsense.launch.py +++ b/rcdt_utilities/launch/realsense.launch.py @@ -2,32 +2,20 @@ # # SPDX-License-Identifier: Apache-2.0 - -import os -from pathlib import Path - -from ament_index_python.packages import get_package_share_directory from launch import LaunchContext, LaunchDescription -from launch.actions import ( - IncludeLaunchDescription, - OpaqueFunction, - SetEnvironmentVariable, -) +from launch.actions import IncludeLaunchDescription, OpaqueFunction from launch_ros.actions import Node, SetParameter from rcdt_utilities.launch_utils import ( get_file_path, get_robot_description, ) -pkg_share = get_package_share_directory("rcdt_realsense") - def launch_setup(_context: LaunchContext) -> None: xacro_path = get_file_path( "rcdt_utilities", ["urdf"], "rcdt_realsense_d435.urdf.xacro" ) - xacro_arguments = {"simulation": "true", "parent": "world"} - robot_description = get_robot_description(xacro_path, xacro_arguments) + robot_description = get_robot_description(xacro_path) robot_state_publisher = Node( package="robot_state_publisher", @@ -36,26 +24,14 @@ def launch_setup(_context: LaunchContext) -> None: ) robot = IncludeLaunchDescription( - get_file_path("rcdt_utilities", ["launch"], "gazebo_robot.launch.py"), - launch_arguments={ - "world": "/home/yuripro/husarion_ws/src/husarion_gz_worlds/worlds/husarion_world.sdf" - }.items(), - ) - - ign_resource_path = SetEnvironmentVariable( - name="IGN_GAZEBO_RESOURCE_PATH", - value=[ - os.path.join(pkg_share, "worlds"), - ":" + str(Path(pkg_share).parent.resolve()), - ], + get_file_path("rcdt_utilities", ["launch"], "gazebo_robot.launch.py") ) rgb_bridge = Node( package="ros_gz_image", executable="image_bridge", arguments=[ - "/some_name/color/image_raw", - # "/camera/camera/color/image_raw" + "/camera/color/image_raw", ], output="screen", ) @@ -64,7 +40,7 @@ def launch_setup(_context: LaunchContext) -> None: package="ros_gz_bridge", executable="parameter_bridge", arguments=[ - "/ns/namespace/depth/image_rect_raw/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", + "/camera/depth/image_rect_raw/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", ], output="screen", ) @@ -72,17 +48,14 @@ def launch_setup(_context: LaunchContext) -> None: rviz = IncludeLaunchDescription( get_file_path("rcdt_utilities", ["launch"], "rviz.launch.py"), launch_arguments={ - # TODO: placeholder - "rviz_frame": "/world", "rviz_display_config": get_file_path( "rcdt_utilities", ["rviz"], "realsense.rviz" - ), + ) }.items(), ) return [ SetParameter(name="use_sim_time", value=True), - ign_resource_path, robot_state_publisher, robot, rgb_bridge, diff --git a/rcdt_utilities/rviz/realsense.rviz b/rcdt_utilities/rviz/realsense.rviz index c77d6bd..6b0f1b3 100644 --- a/rcdt_utilities/rviz/realsense.rviz +++ b/rcdt_utilities/rviz/realsense.rviz @@ -1,7 +1,3 @@ -# SPDX-FileCopyrightText: Alliander N. V. -# -# SPDX-License-Identifier: Apache-2.0 - Panels: - Class: rviz_common/Displays Help Height: 78 @@ -10,8 +6,9 @@ Panels: Expanded: - /Global Options1 - /Status1 + - /Image1 Splitter Ratio: 0.5 - Tree Height: 659 + Tree Height: 538 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -69,15 +66,47 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - camera_link: + camera_bottom_screw_frame: Alpha: 1 Show Axes: false Show Trail: false - Value: true - camera_link_optical: + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: Alpha: 1 Show Axes: false Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true world: Alpha: 1 Show Axes: false @@ -102,7 +131,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /some_name/color/image_raw + Value: /camera/color/image_raw Value: true Enabled: true Global Options: @@ -173,12 +202,12 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 1163 + Height: 1011 Hide Left Dock: false Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000003f1fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000a00000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000031c000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000035d000000cf0000002800ffffff000000010000010f000003f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003f1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f000003f100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000015600000359fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000730000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002a3000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002e4000000b00000002800ffffff000000010000010f00000359fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000359000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -188,5 +217,5 @@ Window Geometry: Views: collapsed: false Width: 1920 - X: 3079 - Y: 115 + X: 309 + Y: 32 diff --git a/rcdt_utilities/sdf/empty_world_with_camera_plugin.xml.sdf b/rcdt_utilities/sdf/empty_world_with_camera_plugin.xml.sdf new file mode 100644 index 0000000..c148ffc --- /dev/null +++ b/rcdt_utilities/sdf/empty_world_with_camera_plugin.xml.sdf @@ -0,0 +1,76 @@ + + + + + + 0.001 + 1.0 + + + + + + + + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + \ No newline at end of file diff --git a/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro index 8df95f4..09a522e 100644 --- a/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro +++ b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro @@ -5,72 +5,87 @@ SPDX-FileCopyrightText: Alliander N. V. SPDX-License-Identifier: Apache-2.0 --> - - - + - + + + + + + + + + + + + + - - - - - - - - - - true - 30.0 + + + - some_name/color/image_raw - false + + + true + 30.0 - name_color_optical_frame - ${69.0/180.0*pi} - - 1280 - 720 - R8G8B8 - - - 0.02 - 300.0 - - - - true - 30.0 + ${namespace}/color/image_raw + false - ns/namespace/depth/image_rect_raw - false - - namespace_depth_optical_frame - - ${87.0/180.0*pi} + ${namespace}_color_optical_frame + ${69.0/180.0*pi} 1280 720 - R_FLOAT32 + R8G8B8 - 0.28 - 8.0 + 0.02 + 300.0 - - gaussian - 0.0 - 0.005 - - - - + + + + + true + 30.0 + + ${namespace}/depth/image_rect_raw + false + + ${namespace}_depth_optical_frame + + ${87.0/180.0*pi} + + 1280 + 720 + R_FLOAT32 + + + 0.28 + 8.0 + + + gaussian + 0.0 + 0.005 + + + + + From fd84b613b5db15f0ab769a10c1139d48057a3da5 Mon Sep 17 00:00:00 2001 From: Jelmer de Wolde Date: Tue, 19 Nov 2024 11:42:31 +0000 Subject: [PATCH 8/9] Fix for use with franka. Signed-off-by: Jelmer de Wolde --- rcdt_utilities/launch/gazebo_robot.launch.py | 39 ++++-- rcdt_utilities/launch/realsense.launch.py | 73 ---------- rcdt_utilities/rviz/realsense.rviz | 127 ++++++++++++++++-- ...th_camera_plugin.xml.sdf => empty.xml.sdf} | 0 .../urdf/rcdt_realsense_d435.urdf.xacro | 20 +-- 5 files changed, 153 insertions(+), 106 deletions(-) delete mode 100644 rcdt_utilities/launch/realsense.launch.py rename rcdt_utilities/sdf/{empty_world_with_camera_plugin.xml.sdf => empty.xml.sdf} (100%) diff --git a/rcdt_utilities/launch/gazebo_robot.launch.py b/rcdt_utilities/launch/gazebo_robot.launch.py index ad3d573..b07dba0 100644 --- a/rcdt_utilities/launch/gazebo_robot.launch.py +++ b/rcdt_utilities/launch/gazebo_robot.launch.py @@ -9,17 +9,25 @@ from launch_ros.actions import Node from rcdt_utilities.launch_utils import LaunchArgument, get_file_path -default_world = get_file_path( - "rcdt_utilities", ["sdf"], "empty_world_with_camera_plugin.xml.sdf" -) - -world_arg = LaunchArgument("world", default_world) +load_gazebo_ui_arg = LaunchArgument("load_gazebo_ui", False, [True, False]) +world_arg = LaunchArgument("world", "") +use_realsense_arg = LaunchArgument("realsense", False, [True, False]) def launch_setup(context: LaunchContext) -> List: + load_gazebo_ui = load_gazebo_ui_arg.value(context) + world = world_arg.value(context) + use_realsense = use_realsense_arg.value(context) + + if world == "": + world = get_file_path("rcdt_utilities", ["sdf"], "empty.xml.sdf") + + gz_args = f" -r {world}" + if not load_gazebo_ui: + gz_args += " -s" gazebo = IncludeLaunchDescription( get_file_path("ros_gz_sim", ["launch"], "gz_sim.launch.py"), - launch_arguments={"gz_args": f" -r {world_arg.value(context)}"}.items(), + launch_arguments={"gz_args": gz_args}.items(), ) spawn_robot = Node( @@ -29,24 +37,35 @@ def launch_setup(context: LaunchContext) -> List: output="screen", ) - sync_clock = Node( + bridge_topics = ["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"] + if use_realsense: + bridge_topics.extend( + [ + "/camera/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image", + "/camera/color/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", + "/camera/depth/image_rect_raw/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", + ] + ) + + bridge = Node( package="ros_gz_bridge", executable="parameter_bridge", - name="sync_clock", - arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"], + arguments=bridge_topics, ) return [ gazebo, spawn_robot, - sync_clock + bridge, ] def generate_launch_description() -> LaunchDescription: return LaunchDescription( [ + load_gazebo_ui_arg.declaration, world_arg.declaration, + use_realsense_arg.declaration, OpaqueFunction(function=launch_setup), ] ) diff --git a/rcdt_utilities/launch/realsense.launch.py b/rcdt_utilities/launch/realsense.launch.py deleted file mode 100644 index a8ee986..0000000 --- a/rcdt_utilities/launch/realsense.launch.py +++ /dev/null @@ -1,73 +0,0 @@ -# SPDX-FileCopyrightText: Alliander N. V. -# -# SPDX-License-Identifier: Apache-2.0 - -from launch import LaunchContext, LaunchDescription -from launch.actions import IncludeLaunchDescription, OpaqueFunction -from launch_ros.actions import Node, SetParameter -from rcdt_utilities.launch_utils import ( - get_file_path, - get_robot_description, -) - - -def launch_setup(_context: LaunchContext) -> None: - xacro_path = get_file_path( - "rcdt_utilities", ["urdf"], "rcdt_realsense_d435.urdf.xacro" - ) - robot_description = get_robot_description(xacro_path) - - robot_state_publisher = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - parameters=[robot_description], - ) - - robot = IncludeLaunchDescription( - get_file_path("rcdt_utilities", ["launch"], "gazebo_robot.launch.py") - ) - - rgb_bridge = Node( - package="ros_gz_image", - executable="image_bridge", - arguments=[ - "/camera/color/image_raw", - ], - output="screen", - ) - - depth_bridge = Node( - package="ros_gz_bridge", - executable="parameter_bridge", - arguments=[ - "/camera/depth/image_rect_raw/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", - ], - output="screen", - ) - - rviz = IncludeLaunchDescription( - get_file_path("rcdt_utilities", ["launch"], "rviz.launch.py"), - launch_arguments={ - "rviz_display_config": get_file_path( - "rcdt_utilities", ["rviz"], "realsense.rviz" - ) - }.items(), - ) - - return [ - SetParameter(name="use_sim_time", value=True), - robot_state_publisher, - robot, - rgb_bridge, - depth_bridge, - rviz, - ] - - -def generate_launch_description() -> LaunchDescription: - return LaunchDescription( - [ - # simulation_arg.declaration, - OpaqueFunction(function=launch_setup), - ] - ) diff --git a/rcdt_utilities/rviz/realsense.rviz b/rcdt_utilities/rviz/realsense.rviz index 6b0f1b3..9a0cac4 100644 --- a/rcdt_utilities/rviz/realsense.rviz +++ b/rcdt_utilities/rviz/realsense.rviz @@ -1,3 +1,7 @@ +# SPDX-FileCopyrightText: Alliander N. V. +# +# SPDX-License-Identifier: Apache-2.0 + Panels: - Class: rviz_common/Displays Help Height: 78 @@ -26,7 +30,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: PointCloud2 Visualization Manager: Class: "" Displays: @@ -86,6 +90,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + camera_depth_optical_frame_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false camera_infra1_frame: Alpha: 1 Show Axes: false @@ -107,6 +115,73 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + fr3_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_hand_tcp: + Alpha: 1 + Show Axes: false + Show Trail: false + fr3_leftfinger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr3_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + fr3_rightfinger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + realsense_link: + Alpha: 1 + Show Axes: false + Show Trail: false world: Alpha: 1 Show Axes: false @@ -133,6 +208,40 @@ Visualization Manager: Reliability Policy: Reliable Value: /camera/color/image_raw Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/depth/image_rect_raw/points + Use Fixed Frame: true + Use rainbow: true + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -179,25 +288,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 2.8377578258514404 + Distance: 3.2032787799835205 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.15223704278469086 - Y: -0.2675058841705322 - Z: 0.3384692668914795 + X: 0.0613296814262867 + Y: 0.252860963344574 + Z: 0.13270089030265808 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.32539844512939453 + Pitch: 0.565398097038269 Target Frame: Value: Orbit (rviz) - Yaw: 0.965397834777832 + Yaw: 0.44539299607276917 Saved: ~ Window Geometry: Displays: @@ -207,7 +316,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000015600000359fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000730000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002a3000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002e4000000b00000002800ffffff000000010000010f00000359fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000359000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000015600000359fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000072c000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002a3000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002e4000000b00000002800ffffff000000010000010f00000359fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000359000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -217,5 +326,5 @@ Window Geometry: Views: collapsed: false Width: 1920 - X: 309 + X: 305 Y: 32 diff --git a/rcdt_utilities/sdf/empty_world_with_camera_plugin.xml.sdf b/rcdt_utilities/sdf/empty.xml.sdf similarity index 100% rename from rcdt_utilities/sdf/empty_world_with_camera_plugin.xml.sdf rename to rcdt_utilities/sdf/empty.xml.sdf diff --git a/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro index 09a522e..8e7fd79 100644 --- a/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro +++ b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro @@ -4,10 +4,10 @@ SPDX-FileCopyrightText: Alliander N. V. SPDX-License-Identifier: Apache-2.0 --> - - + @@ -17,23 +17,16 @@ SPDX-License-Identifier: Apache-2.0 - - - - - - - - + @@ -65,7 +58,7 @@ SPDX-License-Identifier: Apache-2.0 ${namespace}/depth/image_rect_raw false - ${namespace}_depth_optical_frame + ${namespace}_depth_frame ${87.0/180.0*pi} @@ -88,5 +81,4 @@ SPDX-License-Identifier: Apache-2.0 - \ No newline at end of file From a322e3b4e76a431a6834bc314c90ddbc6fbc010f Mon Sep 17 00:00:00 2001 From: Jelmer de Wolde Date: Tue, 19 Nov 2024 14:03:43 +0000 Subject: [PATCH 9/9] Publish same data as real camera. Signed-off-by: Jelmer de Wolde --- rcdt_utilities/launch/gazebo_robot.launch.py | 5 +- rcdt_utilities/rviz/realsense.rviz | 67 +++++++------------- 2 files changed, 25 insertions(+), 47 deletions(-) diff --git a/rcdt_utilities/launch/gazebo_robot.launch.py b/rcdt_utilities/launch/gazebo_robot.launch.py index b07dba0..8c48692 100644 --- a/rcdt_utilities/launch/gazebo_robot.launch.py +++ b/rcdt_utilities/launch/gazebo_robot.launch.py @@ -41,9 +41,10 @@ def launch_setup(context: LaunchContext) -> List: if use_realsense: bridge_topics.extend( [ - "/camera/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image", "/camera/color/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", - "/camera/depth/image_rect_raw/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", + "/camera/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image", + "/camera/depth/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", + "/camera/depth/image_rect_raw@sensor_msgs/msg/Image@gz.msgs.Image", ] ) diff --git a/rcdt_utilities/rviz/realsense.rviz b/rcdt_utilities/rviz/realsense.rviz index 9a0cac4..3ee20b0 100644 --- a/rcdt_utilities/rviz/realsense.rviz +++ b/rcdt_utilities/rviz/realsense.rviz @@ -10,9 +10,8 @@ Panels: Expanded: - /Global Options1 - /Status1 - - /Image1 Splitter Ratio: 0.5 - Tree Height: 538 + Tree Height: 352 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -30,7 +29,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: PointCloud2 + SyncSource: "" Visualization Manager: Class: "" Displays: @@ -90,10 +89,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - camera_depth_optical_frame_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false camera_infra1_frame: Alpha: 1 Show Axes: false @@ -199,7 +194,7 @@ Visualization Manager: Max Value: 1 Median window: 5 Min Value: 0 - Name: Image + Name: Color Normalize Range: true Topic: Depth: 5 @@ -208,39 +203,19 @@ Visualization Manager: Reliability Policy: Reliable Value: /camera/color/image_raw Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 + - Class: rviz_default_plugins/Image Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Depth + Normalize Range: true Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /camera/depth/image_rect_raw/points - Use Fixed Frame: true - Use rainbow: true + Value: /camera/depth/image_rect_raw Value: true Enabled: true Global Options: @@ -295,28 +270,30 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 0.0613296814262867 - Y: 0.252860963344574 - Z: 0.13270089030265808 + X: 0.030398249626159668 + Y: -0.048146918416023254 + Z: 0.40179479122161865 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.565398097038269 + Pitch: 0.2703982889652252 Target Frame: Value: Orbit (rviz) - Yaw: 0.44539299607276917 + Yaw: 0.690392792224884 Saved: ~ Window Geometry: + Color: + collapsed: false + Depth: + collapsed: false Displays: collapsed: false - Height: 1011 + Height: 1043 Hide Left Dock: false Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000015600000359fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000072c000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002a3000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002e4000000b00000002800ffffff000000010000010f00000359fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000359000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000015600000379fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000072c000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001e9000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a00440065007000740068010000022a000000d90000002800fffffffb0000000a0043006f006c006f00720100000309000000ab0000002800ffffff000000010000010f00000379fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000379000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000037900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -327,4 +304,4 @@ Window Geometry: collapsed: false Width: 1920 X: 305 - Y: 32 + Y: 0