Implement ROS bridge for calling set_rate on cameras and lidars. Add …

…it to select robots. (#791)
osrf · Mar 2, 2021 · 18be261 · 18be261
1 parent 61d2e7a
commit 18be261
Show file tree

Hide file tree

Showing 18 changed files with 377 additions and 11 deletions.
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
@@ -183,6 +183,11 @@
       <remap from="input/image" to="front/depth" />
       <remap from="output/image" to="front/optical/depth" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_rgbd_set_rate" />
+      <arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/camera/set_rate" />
+      <arg name="ros_service" value="front/set_rate" />
+    </include>
 
     <!-- Planar Laser -->
     <node
@@ -193,6 +198,12 @@
       <remap from="$(arg link_prefix)/laser/sensor/laser/scan" to="front_scan"/>
     </node>
 
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_lidar_set_rate" />
+      <arg name="ign_service" value="$(arg link_prefix)/laser/sensor/laser/scan/set_rate" />
+      <arg name="ros_service" value="front_scan/set_rate" />
+    </include>
+
     <!-- Omnicamera -->
 
     <node
@@ -219,6 +230,11 @@
       <remap from="input/camera_info" to="omni/camera_0/camera_info" />
       <remap from="output/camera_info" to="omni/camera_0/optical/camera_info" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_omnicam0_set_rate" />
+      <arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0/image/set_rate" />
+      <arg name="ros_service" value="omni/camera_0/set_rate" />
+    </include>
 
     <node
       pkg="ros_ign_bridge"
@@ -244,6 +260,11 @@
       <remap from="input/camera_info" to="omni/camera_1/camera_info" />
       <remap from="output/camera_info" to="omni/camera_1/optical/camera_info" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_omnicam1_set_rate" />
+      <arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1/image/set_rate" />
+      <arg name="ros_service" value="omni/camera_1/set_rate" />
+    </include>
 
     <node
       pkg="ros_ign_bridge"
@@ -269,6 +290,11 @@
       <remap from="input/camera_info" to="omni/camera_2/camera_info" />
       <remap from="output/camera_info" to="omni/camera_2/optical/camera_info" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_omnicam2_set_rate" />
+      <arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2/image/set_rate" />
+      <arg name="ros_service" value="omni/camera_2/set_rate" />
+    </include>
 
     <node
       pkg="ros_ign_bridge"
@@ -294,6 +320,11 @@
       <remap from="input/camera_info" to="omni/camera_3/camera_info" />
       <remap from="output/camera_info" to="omni/camera_3/optical/camera_info" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_omnicam3_set_rate" />
+      <arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3/image/set_rate" />
+      <arg name="ros_service" value="omni/camera_3/set_rate" />
+    </include>
 
     <node
       pkg="ros_ign_bridge"
@@ -319,6 +350,11 @@
       <remap from="input/camera_info" to="omni/camera_4/camera_info" />
       <remap from="output/camera_info" to="omni/camera_4/optical/camera_info" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_omnicam4_set_rate" />
+      <arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4/image/set_rate" />
+      <arg name="ros_service" value="omni/camera_4/set_rate" />
+    </include>
 
     <node
       pkg="ros_ign_bridge"
@@ -344,6 +380,11 @@
       <remap from="input/camera_info" to="omni/camera_5/camera_info" />
       <remap from="output/camera_info" to="omni/camera_5/optical/camera_info" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_omnicam5_set_rate" />
+      <arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5/image/set_rate" />
+      <arg name="ros_service" value="omni/camera_5/set_rate" />
+    </include>
 
     <!--IMU-->
     <node

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/package.xml
@@ -21,6 +21,7 @@
   <exec_depend>ignition-gazebo4</exec_depend>
 
   <exec_depend>roslaunch</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
   <exec_depend>xacro</exec_depend>
 
 </package>
diff --git a/submitted_models/explorer_ds1_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/explorer_ds1_sensor_config_1/launch/vehicle_topics.launch
@@ -122,6 +122,11 @@
         <remap from="input/camera_info" to="depth/camera_info" />
         <remap from="output/camera_info" to="optical/depth/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_up/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
     </group>
 
     <!--DOWN RGBD camera -->
@@ -179,6 +184,11 @@
         <remap from="input/camera_info" to="depth/camera_info" />
         <remap from="output/camera_info" to="optical/depth/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_down/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
     </group>
 
     <!--Front RGBD camera -->
@@ -236,6 +246,11 @@
         <remap from="input/camera_info" to="depth/camera_info" />
         <remap from="output/camera_info" to="optical/depth/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_front/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
     </group>
 
     <!-- 3D lidar -->
@@ -247,6 +262,11 @@
         args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
         <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
+        <arg name="ros_service" value="points/set_rate" />
+      </include>
     </group>
 
     <!-- UAV -->

diff --git a/submitted_models/explorer_ds1_sensor_config_1/package.xml b/submitted_models/explorer_ds1_sensor_config_1/package.xml
@@ -11,8 +11,10 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>roslaunch</buildtool_depend>
-  <buildtool_depend>urdf</buildtool_depend>
-  <buildtool_depend>xacro</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
 </package>
diff --git a/submitted_models/explorer_x1_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/explorer_x1_sensor_config_1/launch/vehicle_topics.launch
@@ -101,6 +101,11 @@
         <remap from="output/image" to="depth/optical/image_raw" />
       </node>
 
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/front_realsense/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
     </group>
 
     <!--Left RGBD camera -->
@@ -154,6 +159,12 @@
         <remap from="output/image" to="depth/optical/image_raw" />
       </node>
 
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/left_realsense/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+
     </group>
 
     <!--Rear RGBD camera -->
@@ -207,6 +218,12 @@
         <remap from="output/image" to="depth/optical/image_raw" />
       </node>
 
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rear_realsense/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+
     </group>
 
     <!--Right RGBD camera -->
@@ -260,6 +277,12 @@
         <remap from="output/image" to="depth/optical/image_raw" />
       </node>
 
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/right_realsense/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+
     </group>
 
     <!--Front Laser-->
@@ -270,6 +293,11 @@
       args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
       <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
+      <arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
+      <arg name="ros_service" value="points/set_rate" />
+    </include>
 
 
     <!--IMU-->

diff --git a/submitted_models/explorer_x1_sensor_config_1/package.xml b/submitted_models/explorer_x1_sensor_config_1/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roslaunch</build_depend>
   <exec_depend>lms1xx</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
 

diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch b/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch
@@ -101,6 +101,12 @@
         <remap from="output/image" to="depth/optical/image_raw" />
       </node>
 
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/front_realsense/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+
     </group>
 
     <!--Left RGBD camera -->
@@ -154,6 +160,12 @@
         <remap from="output/image" to="depth/optical/image_raw" />
       </node>
 
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/left_realsense/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+
     </group>
 
     <!--Rear RGBD camera -->
@@ -207,6 +219,12 @@
         <remap from="output/image" to="depth/optical/image_raw" />
       </node>
 
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rear_realsense/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+
     </group>
 
     <!--Right RGBD camera -->
@@ -260,6 +278,12 @@
         <remap from="output/image" to="depth/optical/image_raw" />
       </node>
 
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/right_realsense/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+
     </group>
 
     <!--Front Laser-->
@@ -270,7 +294,11 @@
       args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
       <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
     </node>
-
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
+      <arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
+      <arg name="ros_service" value="points/set_rate" />
+    </include>
 
     <!--IMU-->
     <node

diff --git a/submitted_models/explorer_x1_sensor_config_2/package.xml b/submitted_models/explorer_x1_sensor_config_2/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roslaunch</build_depend>
   <exec_depend>lms1xx</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
 

diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
@@ -102,6 +102,11 @@
       <remap from="input/image" to="front/depth" />
       <remap from="output/image" to="front/optical/depth" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_rgbd_set_rate" />
+      <arg name="ign_service" value="$(arg sensor_prefix)/camera_front/set_rate" />
+      <arg name="ros_service" value="front/set_rate" />
+    </include>
 
     <!-- Top TOF -->
     <node
@@ -134,6 +139,11 @@
       <remap from="input/camera_info" to="tof_top/camera_info" />
       <remap from="output/camera_info" to="tof_top/optical/camera_info" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_tof_top_set_rate" />
+      <arg name="ign_service" value="$(arg sensor_prefix)/tof_top/depth_image/set_rate" />
+      <arg name="ros_service" value="tof_top/set_rate" />
+    </include>
 
     <!-- Bottom TOF -->
     <node
@@ -166,6 +176,11 @@
       <remap from="input/camera_info" to="tof_bottom/camera_info" />
       <remap from="output/camera_info" to="tof_bottom/optical/camera_info" />
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_tof_bottom_set_rate" />
+      <arg name="ign_service" value="$(arg sensor_prefix)/tof_bottom/depth_image/set_rate" />
+      <arg name="ros_service" value="tof_bottom/set_rate" />
+    </include>
 
     <!-- 3D lidar -->
     <node
@@ -175,6 +190,11 @@
       args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
       <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
     </node>
+    <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
+      <arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
+      <arg name="ros_service" value="points/set_rate" />
+    </include>
 
     <node
       pkg="ros_ign_bridge"

diff --git a/submitted_models/marble_qav500_sensor_config_1/package.xml b/submitted_models/marble_qav500_sensor_config_1/package.xml
@@ -20,8 +20,10 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>roslaunch</buildtool_depend>
-  <buildtool_depend>urdf</buildtool_depend>
-  <buildtool_depend>xacro</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
 </package>