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feat(urdf): add camera to scene

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This commit is contained in:
Ilya Uraev 2025-05-07 16:35:42 +03:00
parent a5ab84a8e1
commit b3235cf709
3 changed files with 102 additions and 4 deletions
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8
config/gz_bridge.yaml
View file

@ -3,10 +3,10 @@
gz_type_name: "gz.msgs.Clock"
direction: GZ_TO_ROS
# - topic_name: "/rgbd_camera/image/image"
# ros_type_name: "sensor_msgs/msg/Image"
# gz_type_name: "gz.msgs.Image"
# direction: GZ_TO_ROS
- topic_name: "/rgbd_camera/image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
direction: GZ_TO_ROS
#
# - topic_name: "/rgbd_camera/image/depth_image"
# ros_type_name: "sensor_msgs/msg/Image"

6
urdf/aubo_i5_dh_ag95.urdf.xacro
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@ -9,6 +9,7 @@
<xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find aubo_ros2_description)/urdf/ros2_control.xacro" />
<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
<xacro:include filename="$(find aubo_ros2_description)/urdf/sensors.xacro" />
<xacro:property name="hardware" value="gazebo" />
@ -240,6 +241,11 @@
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</xacro:dh_ag95_gripper>
<xacro:rgbd parent="wrist3_Link" tf_prefix="">
<origin xyz="0.0 0.05 0.08" rpy="0.0 -1.57 -1.57" />
</xacro:rgbd>
<xacro:aubo_ros2_control hardware="${hardware}" />
<xacro:if value="${hardware=='gazebo'}">
<gazebo>

92
urdf/sensors.xacro Normal file
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@ -0,0 +1,92 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rack">
<xacro:macro name="rgbd" params="*origin parent tf_prefix">
<link name="${tf_prefix}rgbd_camera">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.000166667" ixy="0.0" ixz="0.0" iyy="0.000166667" iyz="0.0" izz="0.000166667" />
</inertial>
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="">
<color rgba="0.0 0.0 0.0 1.0" />
<texture filename="" />
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</collision>
</link>
<gazebo reference="${tf_prefix}rgbd_camera">
<sensor name="${tf_prefix}rgbd_camera" type="rgbd_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>${tf_prefix}rgbd_camera</topic>
<enable_metrics>true</enable_metrics>
</sensor>
</gazebo>
<joint name="${tf_prefix}rgbd_camera_to_parent" type="fixed">
<parent link="${parent}" />
<child link="${tf_prefix}rgbd_camera" />
<xacro:insert_block name="origin" />
</joint>
<gazebo reference="${tf_prefix}rgbd_camera_to_parent">
<preserveFixedJoint>1</preserveFixedJoint>
</gazebo>
</xacro:macro>
<xacro:macro name="fts" params="name tf_prefix link">
<ros2_control name="${tf_prefix}${name}" type="sensor">
<hardware>
<plugin>gz_ros2_control/GzFts</plugin>
</hardware>
<sensor name="${tf_prefix}${name}">
<state_interface name="force.x" />
<state_interface name="force.y" />
<state_interface name="force.z" />
<state_interface name="torque.x" />
<state_interface name="torque.y" />
<state_interface name="torque.z" />
</sensor>
</ros2_control>
<gazebo reference="${tf_prefix}${link}_joint">
<preserveFixedJoint>true</preserveFixedJoint>
<sensor name="${tf_prefix}${name}" type="force_torque">
<always_on>true</always_on>
<update_rate>50</update_rate>
<visualize>true</visualize>
<topic>${tf_prefix}ft_data</topic>
<force_torque>
<frame>sensor</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
</gazebo>
</xacro:macro>
</robot>