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Add PTZ sim support #125

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merged 4 commits into from
Dec 6, 2024
Merged

Add PTZ sim support #125

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b46ee24
Now that axis_camera is released via OSRF, depend on the official pac…
civerachb-cpr Dec 3, 2024
1ff4e98
Rename Gazebo plugins for Jazzy compatibility
civerachb-cpr Dec 3, 2024
85a71b1
Re-add modified Axis camera URDFs, but using the general meshes. This…
civerachb-cpr Dec 4, 2024
08ff6ef
Add joint controllers for the pan & tilt actuators. This provides vel…
civerachb-cpr Dec 5, 2024
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4 changes: 3 additions & 1 deletion clearpath_generator_common/clearpath_generator_common/description/sensors.py
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Expand Up @@ -152,12 +152,14 @@ def __init__(self, sensor: BaseCamera) -> None:

class AxisCameraDescription(CameraDescription):
MODEL = 'model'
UPDATE_RATE = 'update_rate'

def __init__(self, sensor: AxisCamera) -> None:
super().__init__(sensor)

self.parameters.update({
self.MODEL: sensor.device_type
self.MODEL: sensor.device_type,
self.UPDATE_RATE: 15,
})

class IntelRealsenseDescription(CameraDescription):
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2 changes: 1 addition & 1 deletion clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro
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Expand Up @@ -366,7 +366,7 @@
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</xacro:if>
<xacro:if value="${sim_ignition}">
<plugin>gz_ros2_control/IgnitionSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>
<xacro:if value="${sim_isaac}">
<plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
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2 changes: 1 addition & 1 deletion clearpath_manipulators_description/urdf/arm/kinova_gen3_7dof.urdf.xacro
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Expand Up @@ -480,7 +480,7 @@
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</xacro:if>
<xacro:if value="${sim_ignition}">
<plugin>gz_ros2_control/IgnitionSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>
<xacro:if value="${sim_isaac}">
<plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
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2 changes: 1 addition & 1 deletion clearpath_manipulators_description/urdf/arm/kinova_gen3_lite.urdf.xacro
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Expand Up @@ -251,7 +251,7 @@
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</xacro:if>
<xacro:if value="${sim_ignition}">
<plugin>gz_ros2_control/IgnitionSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>
<xacro:if value="${sim_isaac}">
<plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
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2 changes: 1 addition & 1 deletion clearpath_manipulators_description/urdf/gripper/kinova_2f_lite.urdf.xacro
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Expand Up @@ -203,7 +203,7 @@
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</xacro:if>
<xacro:if value="${sim_ignition}">
<plugin>gz_ros2_control/IgnitionSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<plugin>mock_components/GenericSystem</plugin>
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2 changes: 1 addition & 1 deletion clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
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Expand Up @@ -301,7 +301,7 @@
<param name="joint_states_topic">${isaac_joint_states}</param>
</xacro:if>
<xacro:if value="${sim_gazebo}">
<plugin>gz_ros2_control/IgnitionSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<plugin>mock_components/GenericSystem</plugin>
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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/a300/mobility/diff_drive.urdf.xacro
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Expand Up @@ -73,7 +73,7 @@
<ros2_control name="a300_hardware" type="system">
<hardware>
<xacro:if value="$(arg is_sim)">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>
<xacro:unless value="$(arg is_sim)">
<plugin>clearpath_hardware_interfaces/LynxHardware</plugin>
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Binary file removed clearpath_sensors_description/meshes/axis_dome.stl
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Binary file removed clearpath_sensors_description/meshes/axis_q62_base.stl
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Binary file removed clearpath_sensors_description/meshes/axis_q62_top.stl
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1 change: 1 addition & 0 deletions clearpath_sensors_description/package.xml
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Expand Up @@ -17,6 +17,7 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<exec_depend>axis_description</exec_depend>
<exec_depend>microstrain_inertial_description</exec_depend>
<exec_depend>realsense2_description</exec_depend>
<exec_depend>velodyne_description</exec_depend>
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37 changes: 20 additions & 17 deletions clearpath_sensors_description/urdf/axis/axis_dome_fixed.urdf.xacro
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Expand Up @@ -12,7 +12,7 @@
</inertial>
<visual>
<geometry>
<mesh filename="package://clearpath_sensors_description/meshes/axis_dome.stl" scale="1 1 1" />
<mesh filename="package://axis_description/meshes/axis_dome.stl" scale="1 1 1" />
</geometry>
<material name="axis_white">
<color rgba="0.8 0.8 0.8 1.0" />
Expand Down Expand Up @@ -47,37 +47,40 @@
<child link="${prefix}_base_link" />
</joint>

<link name="${prefix}_camera_link" />
<link name="${prefix}_link" />
<joint name="${prefix}_camera_joint" type="fixed">
<parent link="${prefix}_base_link" />
<child link="${prefix}_camera_link" />
<child link="${prefix}_link" />
<origin xyz="0.047 0 ${stand_height + 0.09 + 0.047}" rpy="0 0.7854 0" />
</joint>

<gazebo reference="${prefix}_camera_link">
<material>Gazebo/Black</material>
<sensor type="camera" name="${prefix}_dome_camera">
<!--
Simulation support: sensor plugin
-->
<gazebo reference="${prefix}_link">
<plugin filename="libgz-sim-sensors-system.so" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>

<sensor name="${prefix}_camera" type="camera">
<update_rate>15</update_rate>
<visualize>true</visualize>
<always_on>true</always_on>
<gz_frame_id>${prefix}_link</gz_frame_id>
<topic>$(arg namespace)/sensors/${prefix}/image</topic>
<camera>
<horizontal_fov>6.28</horizontal_fov>
<vertical_fov>1.57</vertical_fov>
<horizontal_fov>1.5184351666666667</horizontal_fov>
<vertical_fov>1.0122901111111111</vertical_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>500.0</far>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="${prefix}_camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<cameraName>${prefix}_camera</cameraName>
<imageTopicName>${topic}</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${prefix}_camera_link</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
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61 changes: 28 additions & 33 deletions clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro
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Expand Up @@ -12,7 +12,7 @@
</inertial>
<visual>
<geometry>
<mesh filename="package://clearpath_sensors_description/meshes/axis_dome.stl" scale="1 1 1" />
<mesh filename="package://axis_description/meshes/axis_dome.stl" scale="1 1 1" />
</geometry>
<material name="axis_white">
<color rgba="0.8 0.8 0.8 1.0" />
Expand Down Expand Up @@ -88,38 +88,40 @@
<!--
Add the gazebo reference frame
-->
<link name="${prefix}_camera_link" />
<link name="${prefix}_link" />
<joint name="${prefix}_camera_joint" type="fixed">
<parent link="${prefix}_head_link" />
<child link="${prefix}_camera_link" />
<child link="${prefix}_link" />
<origin xyz="0.067 0 0" rpy="0 0 0" />
</joint>

<!--
Simulation support: camera plugin & transmissions to allow control over the joints
Simulation support: sensor and joint controller plugins
Velocity control is limited to the real-world camera's limits
-->
<transmission name="${prefix}_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_pan_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_pan_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}_tilt_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_tilt_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_tilt_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="${prefix}_camera_link">
<gazebo>
<plugin filename="libgz-sim-joint-controller-system.so" name="gz::sim::systems::JointController">
<joint_name>${prefix}_pan_joint</joint_name>
<cmd_min>-2.61</cmd_min>
<cmd_max>2.61</cmd_max>
<topic>$(arg namespace)/sensors/${prefix}/cmd_pan_vel</topic>
</plugin>
<plugin filename="libgz-sim-joint-controller-system.so" name="gz::sim::systems::JointController">
<joint_name>${prefix}_tilt_joint</joint_name>
<cmd_min>2.61</cmd_min>
<cmd_max>2.61</cmd_max>
<topic>$(arg namespace)/sensors/${prefix}/cmd_tilt_vel</topic>
</plugin>
</gazebo>
<gazebo reference="${prefix}_link">
<material>Gazebo/Black</material>
<sensor type="camera" name="${prefix}_ptz_camera">

<sensor name="${prefix}_camera" type="camera">
<update_rate>15</update_rate>
<visualize>true</visualize>
<always_on>true</always_on>
<gz_frame_id>${prefix}_link</gz_frame_id>
<topic>$(arg namespace)/sensors/${prefix}/image</topic>
<camera>
<horizontal_fov>1.5184351666666667</horizontal_fov>
<vertical_fov>1.0122901111111111</vertical_fov>
Expand All @@ -129,17 +131,10 @@
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>500.0</far>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="${prefix}_camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<cameraName>${prefix}_camera</cameraName>
<imageTopicName>${topic}</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${prefix}_camera_link</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
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85 changes: 43 additions & 42 deletions clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="axis_q62" params="prefix parent topic *origin">
<xacro:macro name="axis_q62" params="prefix parent *origin">
<link name="${prefix}_base_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
Expand Down Expand Up @@ -28,7 +28,7 @@
</inertial>
<visual>
<geometry>
<mesh filename="package://clearpath_sensors_description/meshes/axis_q62_base.stl" scale="0.001 0.001 0.001" />
<mesh filename="package://axis_description/meshes/axis_q62_base.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="axis_grey">
<color rgba="0.7 0.7 0.7 1.0" />
Expand Down Expand Up @@ -63,7 +63,7 @@
</inertial>
<visual>
<geometry>
<mesh filename="package://clearpath_sensors_description/meshes/axis_q62_top.stl" scale="0.001 0.001 0.001" />
<mesh filename="package://axis_description/meshes/axis_q62_top.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="axis_grey">
<color rgba="0.7 0.7 0.7 1.0" />
Expand Down Expand Up @@ -91,57 +91,65 @@
<!--
Add the shades & gazebo reference frame
-->
<link name="${prefix}_camera_link">
<link name="${prefix}_link">
<visual>
<geometry>
<box size="0.03 0.09 0.01" />
</geometry>
<origin xyz="-0.01 0 0.05" rpy="0 0 0" />
<material name="axis_black">
<color rgba="0 0 0 1" />
</material>
<material name="black" />
</visual>
<visual>
<geometry>
<box size="0.03 0.09 0.01" />
</geometry>
<origin xyz="-0.01 0.20 0.05" rpy="0 0 0" />
<material name="axis_black">
<color rgba="0 0 0 1" />
</material>
<material name="black" />
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia
ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0" />
</inertial>
</link>
<joint name="${prefix}_camera_joint" type="fixed">
<parent link="${prefix}_head_link" />
<child link="${prefix}_camera_link" />
<child link="${prefix}_link" />
<origin xyz="0.1 -0.107 0" rpy="0 0 0" />
</joint>

<!--
Simulation support: camera plugin & transmissions to allow control over the joints
Simulation support: sensor and joint controller plugins
Velocity control is limited to the real-world camera's limits
-->
<transmission name="${prefix}_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_pan_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_pan_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}_tilt_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_tilt_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_tilt_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="${prefix}_camera_link">
<material>Gazebo/Black</material>
<sensor type="camera" name="${prefix}_ptz_camera">
<gazebo>
<plugin filename="libgz-sim-joint-controller-system.so" name="gz::sim::systems::JointController">
<joint_name>${prefix}_pan_joint</joint_name>
<cmd_min>-2.61</cmd_min>
<cmd_max>2.61</cmd_max>
<topic>$(arg namespace)/sensors/${prefix}/cmd_pan_vel</topic>
</plugin>
<plugin filename="libgz-sim-joint-controller-system.so" name="gz::sim::systems::JointController">
<joint_name>${prefix}_tilt_joint</joint_name>
<cmd_min>2.61</cmd_min>
<cmd_max>2.61</cmd_max>
<topic>$(arg namespace)/sensors/${prefix}/cmd_tilt_vel</topic>
</plugin>
</gazebo>
<gazebo reference="${prefix}_link">
<plugin filename="libgz-sim-sensors-system.so" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>

<sensor name="${prefix}_camera" type="camera">
<update_rate>15</update_rate>
<visualize>true</visualize>
<always_on>true</always_on>
<gz_frame_id>${prefix}_link</gz_frame_id>
<topic>$(arg namespace)/sensors/${prefix}/image</topic>
<camera>
<horizontal_fov>1.5184351666666667</horizontal_fov>
<vertical_fov>1.0122901111111111</vertical_fov>
Expand All @@ -151,17 +159,10 @@
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>500.0</far>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="${prefix}_camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<cameraName>${prefix}_camera</cameraName>
<imageTopicName>${topic}</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${prefix}_camera_link</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
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