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URDF Description, Diagnostics, ISP Enable, and Launch Files (#81)
* Changes required to use GigE Blackfly S version * Added blackfly mesh * Added URDF of blackflys and CHANGELOG * Added new_line at end of flir_blackflys.urdf.xacro * Added DiagnosticAnalyzers and more detailed diagnostic messages * Added ISP enable and disable config and updated camera launch file to be more descriptive * Switched order of configuration to put ISP enable next to color encoding * Updated config to include enumeration for Off, Once, Continuous parameters, and udpated diagnostics.launch * Handled issue where no namespace prevents diagnostics_agg from loading from analyzer paramaters
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| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
| Changelog for package pointgrey_camera_description | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
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| 0.1.0 (2021-11-10) | ||
| ------------------- | ||
| * Initial Release | ||
| * Contributors: Luis Camero | ||
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| cmake_minimum_required(VERSION 2.8.3) | ||
| project(flir_camera_description) | ||
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| find_package(catkin REQUIRED) | ||
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| catkin_package() | ||
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| install(DIRECTORY launch meshes rviz urdf | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| ) |
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| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <name>flir_camera_description</name> | ||
| <version>0.1.0</version> | ||
| <description>URDF descriptions for Flir cameras</description> | ||
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| <maintainer email="lcamero@clearpathrobotics.com">Luis Camero</maintainer> | ||
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| <license>BSD</license> | ||
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| <buildtool_depend>catkin</buildtool_depend> | ||
| <exec_depend>robot_state_publisher</exec_depend> | ||
| <exec_depend>urdf</exec_depend> | ||
| <exec_depend>xacro</exec_depend> | ||
| </package> |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="flir_blackflys"> | ||
| <!-- | ||
| camera_{x,y,z,mass} are physical properties of camera collision model | ||
| lens_{r, h, mass} are physical properties of the camera lens | ||
| hfov, fps, width, height, format, near, and far are simulation | ||
| --> | ||
| <xacro:macro name="flir_blackflys" | ||
| params="frame:=camera name:=camera camera_x:=0.047758 camera_y:=0.029 camera_z:=0.029 camera_mass:=0.03 | ||
| lens_r:=0.016 lens_h:=0.04 lens_mass:= 0.05 | ||
| hfov:=1.0471975512 fps:=30 width:=720 height:=540 format:=R8G8B8 near:=0.5 far:=300"> | ||
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| <link name="${frame}"> | ||
| <inertial> | ||
| <mass value="${camera_mass}" /> | ||
| <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 0.01425" rpy="0 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://flir_camera_description/meshes/flir_blackflys.stl"/> | ||
| </geometry> | ||
| <material name="dark_grey" /> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0.003 0 ${camera_z/2}" rpy="0 0 0" /> | ||
| <geometry> | ||
| <box size="${camera_x} ${camera_y} ${camera_z}" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <link name="${frame}_lens"> | ||
| <intertial> | ||
| <mass values="${lens_mass}" /> | ||
| <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> | ||
| </intertial> | ||
| <visual> | ||
| <origin xyz="${lens_h/2} 0 0" rpy="0 1.5707 0" /> | ||
| <geometry> | ||
| <cylinder radius="${lens_r}" length="${lens_h}"/> | ||
| </geometry> | ||
| <material name="dark_grey" /> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="${lens_h/2} 0 0" rpy="0 1.5707 0" /> | ||
| <geometry> | ||
| <cylinder radius="${lens_r}" length="${lens_h}"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <link name="${frame}_optical" /> | ||
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| <joint name="${frame}_lens_joint" type="fixed"> | ||
| <origin xyz="0.02685 0 0.01425" rpy="0 0 0" /> | ||
| <parent link="${frame}" /> | ||
| <child link="${frame}_lens" /> | ||
| </joint> | ||
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| <joint name="${frame}_optical_joint" type="fixed"> | ||
| <origin xyz="${lens_h} 0 0" rpy="-1.570796 0 -1.570796" /> | ||
| <parent link="${frame}_lens" /> | ||
| <child link="${frame}_optical" /> | ||
| </joint> | ||
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| <!-- Gazebo --> | ||
| <gazebo reference="${frame}_optical"> | ||
| <material>Gazebo/Grey</material> | ||
| <sensor type="camera" name="${name}"> | ||
| <update_rate>${fps}</update_rate> | ||
| <camera name="${name}"> | ||
| <pose>0 0 0 0 -1.5707 1.5707</pose> | ||
| <horizontal_fov>${hfov}</horizontal_fov> | ||
| <image> | ||
| <width>${width}</width> | ||
| <height>${height}</height> | ||
| <format>${format}</format> | ||
| </image> | ||
| <clip> | ||
| <near>${near}</near> | ||
| <far>${far}</far> | ||
| </clip> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.007</stddev> | ||
| </noise> | ||
| </camera> | ||
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| <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> | ||
| <alwaysOn>true</alwaysOn> | ||
| <updateRate>${fps}</updateRate> | ||
| <cameraName>${name}</cameraName> | ||
| <imageTopicName>image_raw</imageTopicName> | ||
| <cameraInfoTopicName>camera_info</cameraInfoTopicName> | ||
| <frameName>${frame}_optical</frameName> | ||
| <hackBaseline>0.07</hackBaseline> | ||
| <distortionK1>0.0</distortionK1> | ||
| <distortionK2>0.0</distortionK2> | ||
| <distortionK3>0.0</distortionK3> | ||
| <distortionT1>0.0</distortionT1> | ||
| <distortionT2>0.0</distortionT2> | ||
| </plugin> | ||
| </sensor> | ||
| </gazebo> | ||
| </xacro:macro> | ||
| </robot> |
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