Updated Velodyne Plugins, for Mint 19 support

JACart · Oct 13, 2019 · a8d4a21 · a8d4a21
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diff --git a/velodyne_lidar/.Rhistory b/velodyne_lidar/.Rhistory
diff --git a/velodyne_lidar/LICENSE b/velodyne_lidar/LICENSE
@@ -1,6 +1,6 @@
 Software License Agreement (BSD License)
 
-Copyright (c) 2015-2017, Dataspeed Inc.
+Copyright (c) 2015-2018, Dataspeed Inc.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,

diff --git a/velodyne_lidar/README.md b/velodyne_lidar/README.md
@@ -5,29 +5,36 @@ URDF description and Gazebo plugins to simulate Velodyne laser scanners
 
 # Features
 * URDF with colored meshes
-* Gazebo plugin based on [gazeboo_plugins/gazebo_ros_block_laser](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_plugins/src/gazebo_ros_block_laser.cpp)
+* Gazebo plugin based on [gazebo_plugins/gazebo_ros_block_laser](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_plugins/src/gazebo_ros_block_laser.cpp)
 * Publishes PointCloud2 with same structure (x, y, z, intensity, ring)
 * Simulated Gaussian noise
+* GPU acceleration ([with a modern Gazebo build](gazebo_upgrade.md))
 * Supported models:
     * [VLP-16](velodyne_description/urdf/VLP-16.urdf.xacro)
     * [HDL-32E](velodyne_description/urdf/HDL-32E.urdf.xacro)
+    * Pull requests for other models are welcome
+* Experimental support for clipping low-intensity returns
 
 # Parameters
 * ```*origin``` URDF transform from parent link.
 * ```parent``` URDF parent link name. Default ```base_link```
 * ```name``` URDF model name. Also used as tf frame_id for PointCloud2 output. Default ```velodyne```
 * ```topic``` PointCloud2 output topic name. Default ```/velodyne_points```
 * ```hz``` Update rate in hz. Default ```10```
-* ```lasers``` Number of vertical spinning lasers. Default ```VLP-16: 16, HDL-32E: 33```
+* ```lasers``` Number of vertical spinning lasers. Default ```VLP-16: 16, HDL-32E: 32```
 * ```samples``` Nuber of horizontal rotating samples. Default ```VLP-16: 1875, HDL-32E: 2187```
 * ```min_range``` Minimum range value in meters. Default ```0.9```
 * ```max_range``` Maximum range value in meters. Default ```130.0```
 * ```noise``` Gausian noise value in meters. Default ```0.008```
 * ```min_angle``` Minimum horizontal angle in radians. Default ```-3.14```
 * ```max_angle``` Maximum horizontal angle in radians. Default ```3.14```
+* ```gpu``` Use gpu_ray sensor instead of the standard ray sensor. Default ```false```
+* ```min_intensity``` The minimum intensity beneath which returns will be clipped.  Can be used to remove low-intensity objects.
 
 # Known Issues
 * At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
+* With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option ([issue](https://bitbucket.org/osrf/gazebo/issues/946/),[image](img/gpu.png))
+    * Solution: Upgrade to a [modern Gazebo version](gazebo_upgrade.md)
 * Gazebo cannot maintain 10Hz with large pointclouds
     * Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see [example.urdf.xacro](velodyne_description/urdf/example.urdf.xacro)
 * Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
@@ -37,3 +44,7 @@ URDF description and Gazebo plugins to simulate Velodyne laser scanners
 
 # Example Gazebo Robot
 ```roslaunch velodyne_description example.launch```
+
+# Example Gazebo Robot (with GPU)
+```roslaunch velodyne_description example.launch gpu:=true```
+
diff --git a/velodyne_lidar/bitbucket-pipelines.yml b/velodyne_lidar/bitbucket-pipelines.yml
@@ -3,12 +3,50 @@ image: osrf/ros:kinetic-desktop-full
 
 pipelines:
   default:
-    - step:
-        script:
-          - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
-          - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
-          - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
-          - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
-          - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
-          - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests
-          - catkin_test_results build_isolated
+    - parallel:
+      - step:
+          name: kinetic
+          image: osrf/ros:kinetic-desktop-full
+          script:
+            - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
+            - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
+            - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1
+            - catkin_test_results build_isolated
+      - step:
+          name: lunar
+          image: osrf/ros:lunar-desktop-full
+          script:
+            - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
+            - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
+            - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1
+            - catkin_test_results build_isolated
+      - step:
+          name: melodic
+          image: osrf/ros:melodic-desktop-full
+          script:
+            - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
+            - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
+            - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1
+            - catkin_test_results build_isolated
+  branches:
+    gazebo2:
+      - step:
+          name: indigo
+          image: osrf/ros:indigo-desktop-full
+          script:
+            - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
+            - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
+            - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1
+            - catkin_test_results build_isolated
diff --git a/velodyne_lidar/gazebo_upgrade.md b/velodyne_lidar/gazebo_upgrade.md
@@ -0,0 +1,14 @@
+# GPU issues
+The GPU problems reported in this [issue](https://bitbucket.org/osrf/gazebo/issues/946/) have been solved with this [pull request](https://bitbucket.org/osrf/gazebo/pull-requests/2955/) for the ```gazebo7``` branch. The Gazebo versions from the ROS apt repository (7.0.0 for Kinetic, 9.0.0 for Melodic) do not have this fix. One solution is to pull up-to-date packages from the OSRF Gazebo apt repository. Another solution is to compile from source: http://gazebosim.org/tutorials?tut=install_from_source
+
+* The GPU fix was added to ```gazebo7``` in version 7.14.0
+* The GPU fix was added to ```gazebo9``` in version 9.4.0
+
+# Use up-to-date packages from the OSRF Gazebo apt repository
+```
+sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
+sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+sudo apt update
+sudo apt upgrade
+```
+
diff --git a/velodyne_lidar/img/gpu.png b/velodyne_lidar/img/gpu.png
diff --git a/velodyne_lidar/velodyne_description/CHANGELOG.rst b/velodyne_lidar/velodyne_description/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package velodyne_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.9 (2019-03-08)
+------------------
+
+1.0.8 (2018-09-08)
+------------------
+
+1.0.7 (2018-07-03)
+------------------
+* Added GPU support
+* Updated inertia tensors for VLP-16 and HDL-32E to realistic values
+* Removed unnecessary file extraction code in cmake
+* Contributors: Kevin Hallenbeck, Max Schwarz
+
 1.0.6 (2017-10-17)
 ------------------
 * Use robotNamespace as prefix for PointCloud2 topic frame_id by default

diff --git a/velodyne_lidar/velodyne_description/CMakeLists.txt b/velodyne_lidar/velodyne_description/CMakeLists.txt
@@ -5,16 +5,6 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-# Extract *.tar.gz files in the mesh folder
-FILE(GLOB files RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/meshes" "${CMAKE_CURRENT_SOURCE_DIR}/meshes/*.tar.gz")
-FOREACH(filename ${files})
-  MESSAGE(STATUS "Extracting file: ${filename}")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E tar xzf ${filename}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/meshes
-  )
-ENDFOREACH(filename)
-
 install(DIRECTORY launch meshes rviz urdf world
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
diff --git a/velodyne_lidar/velodyne_description/launch/example.launch b/velodyne_lidar/velodyne_description/launch/example.launch
@@ -20,7 +20,8 @@
   </include>
 
   <!-- Spawn the example robot -->
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find velodyne_description)/urdf/example.urdf.xacro'" />
+  <arg name="gpu" default="false"/>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find velodyne_description)/urdf/example.urdf.xacro' gpu:=$(arg gpu)" />
   <node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-urdf -param /robot_description -model example"/>
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="30.0" />

diff --git a/velodyne_lidar/velodyne_description/package.xml b/velodyne_lidar/velodyne_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>velodyne_description</name>
-  <version>1.0.6</version>
+  <version>1.0.9</version>
   <description>
     URDF and meshes describing Velodyne laser scanners.
   </description>

diff --git a/velodyne_lidar/velodyne_description/urdf/HDL-32E.urdf.xacro b/velodyne_lidar/velodyne_description/urdf/HDL-32E.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HDL-32E">
   <xacro:property name="M_PI" value="3.1415926535897931" />
-  <xacro:macro name="HDL-32E" params="*origin parent:=base_link name:=velodyne topic:=/velodyne_points hz:=10 lasers:=32 samples:=2187 collision_range:=0.3 min_range:=0.9 max_range:=130.0 noise:=0.008 min_angle:=-${M_PI} max_angle:=${M_PI}">
+  <xacro:macro name="HDL-32E" params="*origin parent:=base_link name:=velodyne topic:=/velodyne_points hz:=10 lasers:=32 samples:=2187 collision_range:=0.3 min_range:=0.9 max_range:=130.0 noise:=0.008 min_angle:=-${M_PI} max_angle:=${M_PI} gpu:=false">
 
     <joint name="${name}_base_mount_joint" type="fixed">
       <xacro:insert_block name="origin" /> 
@@ -52,44 +52,86 @@
 
     <!-- Gazebo requires the velodyne_gazebo_plugins package -->
     <gazebo reference="${name}">
-      <sensor type="ray" name="${name}-HDL32E">
-        <pose>0 0 0 0 0 0</pose>
-        <visualize>false</visualize>
-        <update_rate>${hz}</update_rate>
-        <ray>
-          <scan>
-            <horizontal>
-              <samples>${samples}</samples>
-              <resolution>1</resolution>
-              <min_angle>${min_angle}</min_angle>
-              <max_angle>${max_angle}</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>${lasers}</samples>
-              <resolution>1</resolution>
-              <min_angle>-${30.67*M_PI/180.0}</min_angle>
-              <max_angle> ${10.67*M_PI/180.0}</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>${collision_range}</min>
-            <max>${max_range+1}</max>
-            <resolution>0.001</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.0</stddev>
-          </noise>
-        </ray>
-        <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
-          <topicName>${topic}</topicName>
-          <frameName>${name}</frameName>
-          <min_range>${min_range}</min_range>
-          <max_range>${max_range}</max_range>
-          <gaussianNoise>${noise}</gaussianNoise>
-        </plugin>
-      </sensor>
+      <xacro:if value="${gpu}">
+        <sensor type="gpu_ray" name="${name}-HDL32E">
+          <pose>0 0 0 0 0 0</pose>
+          <visualize>false</visualize>
+          <update_rate>${hz}</update_rate>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>${samples}</samples>
+                <resolution>1</resolution>
+                <min_angle>${min_angle}</min_angle>
+                <max_angle>${max_angle}</max_angle>
+              </horizontal>
+              <vertical>
+                <samples>${lasers}</samples>
+                <resolution>1</resolution>
+                <min_angle>-${30.67*M_PI/180.0}</min_angle>
+                <max_angle> ${10.67*M_PI/180.0}</max_angle>
+              </vertical>
+            </scan>
+            <range>
+              <min>${collision_range}</min>
+              <max>${max_range+1}</max>
+              <resolution>0.001</resolution>
+            </range>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.0</stddev>
+            </noise>
+          </ray>
+          <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_gpu_laser.so">
+            <topicName>${topic}</topicName>
+            <frameName>${name}</frameName>
+            <min_range>${min_range}</min_range>
+            <max_range>${max_range}</max_range>
+            <gaussianNoise>${noise}</gaussianNoise>
+          </plugin>
+        </sensor>
+      </xacro:if>
+      <xacro:unless value="${gpu}">
+        <sensor type="ray" name="${name}-HDL32E">
+          <pose>0 0 0 0 0 0</pose>
+          <visualize>false</visualize>
+          <update_rate>${hz}</update_rate>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>${samples}</samples>
+                <resolution>1</resolution>
+                <min_angle>${min_angle}</min_angle>
+                <max_angle>${max_angle}</max_angle>
+              </horizontal>
+              <vertical>
+                <samples>${lasers}</samples>
+                <resolution>1</resolution>
+                <min_angle>-${30.67*M_PI/180.0}</min_angle>
+                <max_angle> ${10.67*M_PI/180.0}</max_angle>
+              </vertical>
+            </scan>
+            <range>
+              <min>${collision_range}</min>
+              <max>${max_range+1}</max>
+              <resolution>0.001</resolution>
+            </range>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.0</stddev>
+            </noise>
+          </ray>
+          <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
+            <topicName>${topic}</topicName>
+            <frameName>${name}</frameName>
+            <min_range>${min_range}</min_range>
+            <max_range>${max_range}</max_range>
+            <gaussianNoise>${noise}</gaussianNoise>
+          </plugin>
+        </sensor>
+      </xacro:unless>
     </gazebo>
 
   </xacro:macro>