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Geonhee-LEEwhikwon
Geonhee-LEE
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whikwon
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Implement cam in GAZEBO (#90)
* Create urdf file * add the urdf file for implementing camera * create launch file for executing gazebo including cam * remove the dummy * remove dummy * change directory
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‎launch/open_manipulator_cam_env.launch

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<?xml version="1.0"?>
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<launch>
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<!-- gazebo related args -->
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- robot URDF parse args -->
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<arg name="om_urdf" value="robot_description"/>
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<arg name="urdf_param" default="/robot_description"/>
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<param name="$(arg om_urdf)" textfile="$(find kair_algorithms)/urdf/open_manipulator_cam.urdf.xacro"/>
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<arg name="load_robot_description" default="false"/>
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<!-- gazebo related -->
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<rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<!--KDL chain related args-->
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<param if="$(arg load_robot_description)" name="$(arg urdf_param)" command="$(find xacro)/xacro --inorder $(find kair_algorithms)/urdf/om.urdf"/>
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<!-- Load the URDF into the ROS Parameter Server -->
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find kair_algorithms)/urdf/open_manipulator_cam.urdf.xacro'"/>
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
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<!-- ros_control robotis manipulator launch file -->
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<include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch"/>
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</launch>

‎urdf/camera.urdf.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="camera">
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<xacro:property name="pi" value="3.1415926535897931"/>
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<xacro:macro name="camera_sensor" params="xyz rpy parent">
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<joint name="camera_sensor_joint" type="fixed">
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<axis xyz="0 1 0" />
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<origin xyz="${xyz}" rpy="${rpy}"/>
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<parent link="${parent}"/>
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<child link="camera_link"/>
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</joint>
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<link name="camera_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.02 0.08 0.05"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.02 0.08 0.05"/>
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</geometry>
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<material name="iRobot/Green"/>
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</visual>
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<inertial>
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<mass value="0.0001" />
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<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
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<inertia ixx="0.0000001" ixy="0" ixz="0" iyy="0.0000001" iyz="0" izz="0.0000001" />
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</inertial>
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</link>
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<gazebo reference="camera_link">
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<sensor type="camera" name="camera">
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<update_rate>30.0</update_rate>
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<camera name="head">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>800</width>
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<height>600</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>camera</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>camera_link</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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</robot>

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