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Add camera option #30

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Add camera option #30

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9a9b300
Update model and add RT Corporation logo
Tiryoh Sep 21, 2021
19b094b
Fix main circuit board position
Tiryoh Sep 21, 2021
0f3764f
Avoid slipping
Tiryoh Sep 21, 2021
d693b2f
Make lidar_frame name variable
Tiryoh Sep 21, 2021
4bf48fd
Separate option parts
Tiryoh Sep 21, 2021
8a96b6c
Add web camera option
Tiryoh Sep 21, 2021
0b0bd56
Refactor
Tiryoh Sep 21, 2021
047a592
Disable debug view
Tiryoh Sep 22, 2021
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294 changes: 0 additions & 294 deletions meshes/dae/body/RasPiMouse_TopPlate.dae
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1,889 changes: 0 additions & 1,889 deletions meshes/dae/body/RasPiMouse_body-TopPlate-URG.dae
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1,817 changes: 0 additions & 1,817 deletions meshes/dae/body/RasPiMouse_body-TopPlate.dae
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1,745 changes: 0 additions & 1,745 deletions meshes/dae/body/RasPiMouse_body.dae
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466 changes: 466 additions & 0 deletions meshes/dae/body/raspimouse_body.dae
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100 changes: 100 additions & 0 deletions meshes/dae/body/raspimouse_camera_mount.dae
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100 changes: 100 additions & 0 deletions meshes/dae/body/raspimouse_top_plate.dae
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Binary file added meshes/dae/body/rt-logo.png
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1,392 changes: 0 additions & 1,392 deletions meshes/dae/sensor/URG.dae → meshes/dae/sensor/urg_bottom_origin.dae
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1,479 changes: 0 additions & 1,479 deletions meshes/dae/sensor/URG_center.dae → ...sensor/urg_optical_axis_center_origin.dae
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0 meshes/dae/wheel/RasPiMouse_wheel.dae → meshes/dae/wheel/raspimouse_wheel.dae
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9 changes: 9 additions & 0 deletions urdf/body/body.gazebo.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<gazebo reference="base_link">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
</gazebo>

</robot>
73 changes: 26 additions & 47 deletions urdf/body/body.urdf.xacro
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@@ -1,59 +1,38 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="base" params="parent lidar *joint_origin">
<xacro:include filename="$(find raspimouse_description)/urdf/body/body.gazebo.xacro" />

<xacro:macro name="base" params="parent *joint_origin">
<joint name="base_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent}" />
<child link="base_link" />
</joint>
<link name="base_link">

<xacro:if value="${lidar == 'none'}">
<visual>
<geometry>
<mesh filename="package://raspimouse_description/meshes/dae/body/RasPiMouse_body.dae" />
</geometry>
</visual>
<collision>
<!-- <geometry> -->
<!-- <mesh filename="package://raspimouse_description/meshes/dae/body/RasPiMouse_body.dae" /> -->
<!-- </geometry> -->
<origin rpy="0 0 0" xyz="0.005 0 0.040" />
<geometry>
<box size="0.117 0.080 0.080" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005075 -0.000427 0.029879" />
<mass value="0.7186" />
<inertia ixx="0.001238161833" ixy="0.000000904986" iyy="0.001368529369"
ixz="0.000100297310" iyz="0.000022118177" izz="0.000784319117" />
</inertial>
</xacro:if>

<xacro:if value="${lidar == 'urg'}">
<visual>
<geometry>
<mesh filename="package://raspimouse_description/meshes/dae/body/RasPiMouse_body-TopPlate.dae"/>
</geometry>
</visual>
<collision>
<!-- <geometry> -->
<!-- <mesh filename="package://raspimouse_description/meshes/dae/body/RasPiMouse_body-TopPlate.dae" /> -->
<!-- </geometry> -->
<origin rpy="0 0 0" xyz="0.005 0 0.0435" />
<geometry>
<box size="0.117 0.080 0.087" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003851 -0.000443 0.031714" />
<mass value="0.759881"/>
<inertia ixx="0.001561279589" ixy="0.00000150035" iyy="0.001698462955"
ixz="0.000042679786" iyz="0.000023629024" izz="0.000855782529"/>
</inertial>
</xacro:if>
<visual>
<geometry>
<mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_body.dae" />
</geometry>
</visual>
<collision>
<!-- <geometry> -->
<!-- <mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_body.dae" /> -->
<!-- </geometry> -->
<origin rpy="0 0 0" xyz="0.005 0 0.040" />
<geometry>
<box size="0.117 0.080 0.080" />
</geometry>
</collision>
<inertial>
<mass value="0.7186" />
<origin xyz="-0.005075 0.0 0.03" />
<xacro:box_inertia m="0.7" x="0.1" y="0.08" z="0.08" />
<!-- <origin xyz="-0.005075 -0.000427 0.029879" /> -->
<!-- <inertia ixx="0.001238161833" ixy="0.000000904986" iyy="0.001368529369"
ixz="0.000100297310" iyz="0.000022118177" izz="0.000784319117" /> -->
</inertial>
</link>

</xacro:macro>
</robot>
61 changes: 61 additions & 0 deletions urdf/body/option.urdf.xacro
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@@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="lidar_urg_mount" params="prefix parent *joint_origin">
<joint name="${prefix}_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent}" />
<child link="${prefix}_link" />
</joint>
<link name="${prefix}_link">
<visual>
<geometry>
<mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_top_plate.dae"/>
</geometry>
</visual>
<collision>
<!-- <geometry> -->
<!-- <mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_top_plate.dae" /> -->
<!-- </geometry> -->
<origin rpy="0 0 0" xyz="0.005 0 0.0435" />
<geometry>
<box size="0.117 0.080 0.087" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0.07" />
<mass value="0.04"/>
<xacro:box_inertia m="0.04" x="0.13" y="0.1" z="0.002" />
</inertial>
</link>
</xacro:macro>

<xacro:macro name="camera_mount" params="prefix parent *joint_origin">
<joint name="${prefix}_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent}" />
<child link="${prefix}_link" />
</joint>
<link name="${prefix}_link">
<visual>
<geometry>
<mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_camera_mount.dae" />
</geometry>
</visual>
<collision>
<!-- <geometry> -->
<!-- <mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_camera_mount.dae" /> -->
<!-- </geometry> -->
<origin rpy="0 0 0" xyz="-0.006 0 0" />
<geometry>
<box size="0.03 0.068 0.0016" />
</geometry>
</collision>
<inertial>
<mass value="0.005" />
<xacro:box_inertia m="0.005" x="0.05" y="0.07" z="0.002" />
</inertial>
</link>
</xacro:macro>

</robot>
61 changes: 61 additions & 0 deletions urdf/camera/camera.gazebo.xacro
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@@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot name="csi_camera" xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="camera_gazebo" params="camera_name camera_link robot_namespace robotdescription_namespace">

<gazebo reference="${camera_link}">
<material>Gazebo/FlatBlack</material>
</gazebo>

<link name="${camera_link}_tf_origin" />

<joint name="${camera_link}_tf_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${camera_link}" />
<child link="${camera_link}_tf_origin" />
</joint>

<gazebo reference="${camera_link}_tf_origin">
<sensor type="camera" name="${camera_name}">
<visualize>$(arg camera_visual)</visualize>
<update_rate>30.0</update_rate>
<camera name="${camera_name}">
<pose>0 0 0 0 0 0</pose>
<horizontal_fov>1.39626</horizontal_fov> <!-- 80deg -->
<image>
<width>800</width>
<height>600</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.03</near>
<far>1</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>

<plugin name="camera_controller_${camera_name}" filename="libgazebo_ros_camera.so">
<robotNamespace>${robot_namespace}</robotNamespace>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>${camera_name}</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${robotdescription_namespace}${camera_link}_tf_origin</frameName>
<hackBaseline>0.0</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>
48 changes: 48 additions & 0 deletions urdf/camera/camera.urdf.xacro
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@@ -0,0 +1,48 @@
<?xml version="1.0"?>
<robot name="light_sensor" xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:include filename="$(find raspimouse_description)/urdf/common.xacro" />
<xacro:include filename="$(find raspimouse_description)/urdf/camera/camera.gazebo.xacro" />

<xacro:macro name="webcam" params="prefix parent *joint_origin">
<joint name="${prefix}_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent}" />
<child link="${prefix}_link" />
</joint>

<link name="${prefix}_link">
<visual>
<geometry>
<box size="0.01 0.03 0.02" />
</geometry>
<material name="Black" />
</visual>
<inertial>
<mass value="0.02" />
<xacro:box_inertia m="0.02" x="0.01" y="0.03" z="0.02" />
</inertial>
</link>

<joint name="${prefix}_lense_joint" type="fixed">
<origin xyz="0.005 0 0" rpy="0 1.57 0" />
<parent link="${prefix}_link" />
<child link="${prefix}_lense_link" />
</joint>

<link name="${prefix}_lense_link">
<origin rpy="0 0 " />
<visual>
<geometry>
<cylinder radius="0.005" length="0.001"/>
</geometry>
<material name="White">
<color rgba="1.0 1.0 1.0 2.0"/>
</material>
</visual>
</link>

<!-- Set up laser gazebo details -->
<!-- <hokuyo_laser /> -->
</xacro:macro>
</robot>
14 changes: 7 additions & 7 deletions urdf/raspimouse.urdf
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Expand Up @@ -11,7 +11,7 @@
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://raspimouse_description/meshes/dae/body/RasPiMouse_body.dae"/>
<mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_body.dae"/>
</geometry>
</visual>
</link>
Expand All @@ -20,13 +20,13 @@
<origin xyz="0 0.0425 0.02215" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="left_wheel"/>
<child link="left_wheel_link"/>
</joint>

<link name="left_wheel">
<link name="left_wheel_link">
<visual>
<geometry>
<mesh filename="package://raspimouse_description/meshes/dae/wheel/RasPiMouse_wheel.dae"/>
<mesh filename="package://raspimouse_description/meshes/dae/wheel/raspimouse_wheel.dae"/>
</geometry>
</visual>
</link>
Expand All @@ -35,13 +35,13 @@
<origin xyz="0 -0.0425 0.02215" rpy="1.57 0 0"/>
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="right_wheel"/>
<child link="right_wheel_link"/>
</joint>

<link name="right_wheel">
<link name="right_wheel_link">
<visual>
<geometry>
<mesh filename="package://raspimouse_description/meshes/dae/wheel/RasPiMouse_wheel.dae"/>
<mesh filename="package://raspimouse_description/meshes/dae/wheel/raspimouse_wheel.dae"/>
</geometry>
</visual>
</link>
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