Port d435 depth camera to Humble.

diff --git a/tatuira_description/launch/gazebo.launch.xml b/tatuira_description/launch/gazebo.launch.xml
index d8aa4cc..e4293e0 100644 (file)
--- a/tatuira_description/launch/gazebo.launch.xml
+++ b/tatuira_description/launch/gazebo.launch.xml
@@ -35,9 +35,9 @@
 
        <include file="$(find-pkg-share tatuira_description)/launch/tatuira.launch.xml">
                <arg name="use_sim_time" value="$(var use_sim_time)"/>
-               <arg name="d435" value="$(var d435)" />
+               <arg name="d435" value="$(var d435)"/>
        </include>
 
        <node name="tatuira_spawner" pkg="gazebo_ros" exec="spawn_entity.py"
-               args="-topic robot_description -entity tatuira" />
+               args="-topic robot_description -entity tatuira"/>
 </launch>

diff --git a/tatuira_description/package.xml b/tatuira_description/package.xml
index 7253dc7..748f52c 100644 (file)
--- a/tatuira_description/package.xml
+++ b/tatuira_description/package.xml
@@ -23,5 +23,6 @@
   <export>
     <build_type>ament_cmake</build_type>
     <gazebo_ros gazebo_model_path="${prefix}/.."/>
+    <gazebo_ros gazebo_model_path="/opt/ros/humble/share/realsense2_description/.."/>
   </export>
 </package>

diff --git a/tatuira_description/urdf/d435.xacro b/tatuira_description/urdf/d435.urdf.xacro
similarity index 75%
rename from tatuira_description/urdf/d435.xacro
rename to tatuira_description/urdf/d435.urdf.xacro
index eda5179..b98b7a1 100644 (file)
--- a/tatuira_description/urdf/d435.xacro
+++ b/tatuira_description/urdf/d435.urdf.xacro
@@ -7,34 +7,36 @@
        <xacro:arg name="d435" default="false"/>
 
        <xacro:if value="$(arg d435)">
-               <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
-               <xacro:sensor_d435 parent="awac_link">
-                       <origin xyz="0 0 0.175" rpy="0.0 0.0 ${pi/2}" />
+
+               <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
+
+               <xacro:sensor_d435 parent="awac_link" use_nominal_extrinsics="false" add_plug="false" use_mesh="true">
+                       <origin xyz="0 0 0.175" rpy="0.0 0.0 ${pi/2}"/>
                </xacro:sensor_d435>
 
-               <link name="plugin_camera_link" />
+               <link name="plugin_camera_link"/>
 
                <joint name="plugin_camera_joint" type="fixed">
                        <parent link="camera_link"/>
-                       <child link="plugin_camera_link" />
-                       <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${-pi/2}" />
+                       <child link="plugin_camera_link"/>
+                       <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${-pi/2}"/>
                </joint>
 
                <gazebo reference="camera_link">
                        <sensor name="camera" type="depth">
                        <!--sensor name="camera" type="depth_camera"-->
-                               <always_on>trun</always_on>
-                               <update_rate>15</update_rate> <!--or 6 or 30 -->
+                               <always_on>true</always_on>
+                               <update_rate>15</update_rate>   <!--or 6 or 30 -->
                                <visualize>false</visualize>
                                <triggered>false</triggered>
                                <trigger_topic>trigger</trigger_topic>
-                               <topic>depth_camera</topic> <!-- This is only used by Gazebo Ignition -->
+                               <topic>depth_camera</topic>     <!-- This is only used by Gazebo Ignition -->
                                <ignition_frame_id>camera_link</ignition_frame_id>
                                <camera>
-                                       <horizontal_fov>1.309</horizontal_fov> <!--75 deg at 480p  or 87 deg at 720p-->
+                                       <horizontal_fov>1.309</horizontal_fov>  <!--75 deg at 480p  or 87 deg at 720p-->
                                        <image>
-                                               <width>640</width> <!--or 1280 -->
-                                               <height>480</height> <!--or 720 -->
+                                               <width>640</width>      <!--or 1280 -->
+                                               <height>480</height>    <!--or 720 -->
                                                <format>R8G8B8</format>
                                                <!--format>R_FLOAT32</format-->
                                        </image>
@@ -52,7 +54,7 @@
                                <!-- Gazebo Classic -->
                                <xacro:if value="${hardware == 'gazebo'}">
                                        <plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
-                                               <baseline>0.05</baseline>  <!-- dist between sensors -->
+                                               <baseline>0.05</baseline>       <!-- dist between sensors -->
                                                <!-- Keep this zero, update_rate in the parent <sensor> tag 
                                                will control the frame rate. -->
                                                <update_rate>0.0</update_rate>
@@ -74,6 +76,8 @@
                                                        <remapping>/camera/points:=camera/depth/points</remapping>
                                                </ros>
                                                <!--pointCloudCutoff>0.175</pointCloudCutoff--> <!-- or 0.28 at 720p -->
+                                               <min_depth>0.05</min_depth>
+                                               <max_depth>10</max_depth>
                                        </plugin>
                                </xacro:if>
                        </sensor>

diff --git a/tatuira_description/urdf/gazebo_control.xacro b/tatuira_description/urdf/gazebo_control.urdf.xacro
similarity index 100%
rename from tatuira_description/urdf/gazebo_control.xacro
rename to tatuira_description/urdf/gazebo_control.urdf.xacro

diff --git a/tatuira_description/urdf/ground_truth.xacro b/tatuira_description/urdf/ground_truth.urdf.xacro
similarity index 100%
rename from tatuira_description/urdf/ground_truth.xacro
rename to tatuira_description/urdf/ground_truth.urdf.xacro

diff --git a/tatuira_description/urdf/ros2_control.xacro b/tatuira_description/urdf/ros2_control.urdf.xacro
similarity index 100%
rename from tatuira_description/urdf/ros2_control.xacro
rename to tatuira_description/urdf/ros2_control.urdf.xacro

diff --git a/tatuira_description/urdf/tatuira.urdf.xacro b/tatuira_description/urdf/tatuira.urdf.xacro
index 602e718..a690694 100644 (file)
--- a/tatuira_description/urdf/tatuira.urdf.xacro
+++ b/tatuira_description/urdf/tatuira.urdf.xacro
@@ -73,10 +73,10 @@
 
        <xacro:back_macro name="left" parent="center_0" reflect="-1" />
 
-       <xacro:include filename="ros2_control.xacro"/>
-       <xacro:include filename="gazebo_control.xacro"/>
+       <xacro:include filename="ros2_control.urdf.xacro"/>
+       <xacro:include filename="gazebo_control.urdf.xacro"/>
 
-       <xacro:include filename="ground_truth.xacro"/>
+       <xacro:include filename="ground_truth.urdf.xacro"/>
 
-       <xacro:include filename="d435.xacro"/>
+       <xacro:include filename="d435.urdf.xacro"/>
 </robot>