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[ROS] - Refactor RB-Pearl sensor tf #34

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[ROS] - Refactor RB-Pearl sensor tf #34

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ac3bf5d
fix tf z offset bpearl
rafa-martin May 15, 2024
b861402
revert previous commit and clean
rafa-martin Jun 16, 2024
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169 changes: 92 additions & 77 deletions urdf/rs_bpearl.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,39 +1,50 @@
<?xml version="1.0"?>
<robot name="sensor_rs_bpearl" xmlns:xacro="http://wiki.ros.org/xacro">

<xacro:property name="M_PI" value="3.1415926535897931" />

<xacro:macro name="sensor_rs_bpearl" params="prefix parent prefix_topic suffix_topic:='' *origin range_min range_max hfov samples vfov lasers fps gpu:=true include_inertial:=^|true">


<robot
name="sensor_rs_bpearl"
xmlns:xacro="http://wiki.ros.org/xacro"
>
<xacro:macro
name="sensor_rs_bpearl"
params="
prefix
parent
*origin
prefix_topic
suffix_topic:=''
range_min
range_max
hfov
samples
vfov
lasers
fps
gpu:=true
include_inertial:=^|true
"
>
<joint name="${prefix}_base_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<parent link="${parent}" />
<child link="${prefix}_base_link" />
</joint>

<link name="${prefix}_base_link">
<visual>
<!-- origin xyz="0 0 0" rpy="0 0 1.5708"/ -->
<origin xyz="0 0 0" rpy="0 0 1.5708"/>
<origin xyz="0 0 0" rpy="0 0 1.5708" />
<geometry>
<mesh filename="package://robotnik_sensors/meshes/rs_bpearl.stl" />
</geometry>

<material name="blackgray_color">
<color rgba="0.25 0.25 0.25 1"/>
<color rgba="0.25 0.25 0.25 1" />
</material>

</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 1.5708"/>
<origin xyz="0 0 0" rpy="0 0 1.5708" />
<geometry>
<mesh filename="package://robotnik_sensors/meshes/rs_bpearl.stl" />
</geometry>
</collision>
<xacro:if value="${include_inertial}">
<inertial>
<!-- The following are not reliable values, and should not be used for modeling -->
<mass value="0.92" />
<origin xyz="0 0 0.055" />
<xacro:solid_cuboid_inertia m="0.92" w="0.111" h="0.111" d="0.11" />
Expand All @@ -42,84 +53,88 @@
</link>

<joint name="${prefix}_joint" type="fixed">
<parent link="${prefix}_base_link"/>
<parent link="${prefix}_base_link" />
<child link="${prefix}_link" />
<origin xyz="0 0 0.09427" rpy="0 0 0"/>
<origin xyz="0 0 0.09427" rpy="0 0 0" />
</joint>
<link name="${prefix}_link"/>

<xacro:sensor_rs_bpearl_gazebo range_min="${range_min}" range_max="${range_max}" hfov="${hfov}" samples="${samples}" vfov="${vfov}" lasers="${lasers}" fps="${fps}" gpu="${gpu}"/>
<link name="${prefix}_link" />

<xacro:sensor_rs_bpearl_gazebo
range_min="${range_min}"
range_max="${range_max}"
hfov="${hfov}"
samples="${samples}"
vfov="${vfov}"
lasers="${lasers}"
fps="${fps}"
gpu="${gpu}"
/>
</xacro:macro>

<xacro:macro name="sensor_rs_bpearl_gazebo" params="range_min range_max hfov samples vfov lasers fps gpu">

<xacro:macro
name="sensor_rs_bpearl_gazebo"
params="range_min range_max hfov samples vfov lasers fps gpu"
>
<gazebo reference="${prefix}_base_link">
<visual>
<material>
<ambient>0.5 0.5 0.5 1.0</ambient>
<diffuse>0.250754 0.250754 0.250754 1.0</diffuse>
<specular>0.2508273 0.2508273 0.2508273 1.0</specular>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>
<visual>
<material>
<ambient>0.5 0.5 0.5 1.0</ambient>
<diffuse>0.250754 0.250754 0.250754 1.0</diffuse>
<specular>0.2508273 0.2508273 0.2508273 1.0</specular>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>
</gazebo>

<gazebo reference="${prefix}_link">

<visual>
<material>
<ambient>1.2 0.2 0.2 1.0</ambient>
<diffuse>0.250754 0.250754 0.250754 1.0</diffuse>
<specular>0.2508273 0.2508273 0.2508273 1.0</specular>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>
<visual>
<material>
<ambient>1.2 0.2 0.2 1.0</ambient>
<diffuse>0.250754 0.250754 0.250754 1.0</diffuse>
<specular>0.2508273 0.2508273 0.2508273 1.0</specular>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>

<xacro:if value="${gpu}">
<!-- Using GPU needs: https://github.com/RobotnikAutomation/velodyne_simulator -->
<xacro:property name="ray_type" value="gpu_ray" />
<xacro:property name="plugin_lib" value="libgazebo_ros_velodyne_gpu_laser.so" />
</xacro:if>
<xacro:unless value="${gpu}">
<xacro:property name="ray_type" value="ray" />
<xacro:property name="plugin_lib" value="libgazebo_ros_velodyne_laser.so" />
</xacro:unless>
<sensor type="${ray_type}" name="${prefix}_sensor">
<pose>0 0 0 0 0 0.0</pose>
<visualize>false</visualize>
<update_rate>${fps}</update_rate>
<ray>
<scan>
<horizontal>
<!-- for a high quality simulation -->
<samples>${samples}</samples>
<min_angle>-${hfov/2*M_PI/180.0}</min_angle>
<max_angle>${hfov/2*M_PI/180.0}</max_angle>
</horizontal>
<vertical>
<samples>${lasers}</samples>
<min_angle>-${5*M_PI/180.0}</min_angle> <!-- bpearl has 90 degrees of vertical field of view-->
<max_angle> ${(vfov-10)*M_PI/180.0}</max_angle>
</vertical>
</scan>
<range>
<min>${range_min}</min>
<max>${range_max}</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>none</type>
</noise>
</ray>
<plugin name="${prefix}_controller" filename="${plugin_lib}">
<topicName>${prefix_topic}/points${suffix_topic}</topicName>
<frameName>/${prefix}_link</frameName>
<gaussianNoise>0.008</gaussianNoise>
</plugin>
</sensor>
<sensor type="${ray_type}" name="${prefix}_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>${fps}</update_rate>
<ray>
<scan>
<horizontal>
<samples>${samples}</samples>
<min_angle>-${radians(hfov/2)}</min_angle>
<max_angle>${radians(hfov/2)}</max_angle>
</horizontal>
<vertical>
<samples>${lasers}</samples>
<min_angle>${radians(0.5)}</min_angle>
<max_angle>${radians(vfov-5)}</max_angle>
</vertical>
</scan>
<range>
<min>${range_min}</min>
<max>${range_max}</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>none</type>
</noise>
</ray>
<plugin name="${prefix}_controller" filename="${plugin_lib}">
<topicName>${prefix_topic}/points${suffix_topic}</topicName>
<frameName>/${prefix}_link</frameName>
<gaussianNoise>0.008</gaussianNoise>
</plugin>
</sensor>
</gazebo>

</xacro:macro>

</robot>