ICode9
精准搜索请尝试： 精确搜索
首页
编程语言>
数据库
系统相关
互联网
其他分享
Python
Java
JavaScript
android
PHP
首页 > 其他分享> 文章详细

ROS仿真笔记之——gazebo配置velodyne

2021-09-19 19:32:25  阅读：433  来源： 互联网

标签：-- 0.0 velodyne range camera max ROS gazebo


之前博客《ROS仿真笔记之——基于gazebo的event camera仿真(dvs gazebo)》介绍了在gazebo里面配置dvs sensor，本博文将velodyne也加上，并且在dvs camera里面加入image，使得仿真的event camera在输出event stream的同时，也可以输出图片。

首先把需要用到的so文件放在一个文件夹中，方便使用

然后更改机器人的.urdf.xacro文件，把VLP-16 sensor加进去

<!-- 加入激光雷达 -->
    <xacro:include filename="/home/kwanwaipang/gazebo_so/VLP_16_model/VLP-16.urdf.xacro"/>
  <xacro:VLP-16 parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="440" gpu="${gpu}">
    <origin xyz="0 0 0.2" rpy="0 0 0" />
  </xacro:VLP-16>

注意：对应的VLP-16.urdf.xacro文件里面的路径需要更改

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="VLP-16">
  <xacro:property name="M_PI" value="3.1415926535897931" />
  <xacro:macro name="VLP-16" params="*origin parent:=base_link name:=velodyne topic:=/velodyne_points hz:=10 lasers:=16 samples:=1875 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="${name}_base_mount_joint" type="fixed">
      <xacro:insert_block name="origin" /> 
      <parent link="${parent}"/>
      <child link="${name}_base_link"/>
    </joint>

    <link name="${name}_base_link">
      <inertial>
        <mass value="0.83"/>
        <origin xyz="0 0 0.03585"/>
        <inertia ixx="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" ixy="0" ixz="0"
          iyy="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" iyz="0"
          izz="${0.5 * 0.83 * (0.0516*0.0516)}"/>
      </inertial>
      <visual>
        <geometry>
          <mesh filename="/home/kwanwaipang/gazebo_so/VLP_16_model/meshes/VLP16_base_1.dae" />
        </geometry>
      </visual>
      <visual>
        <geometry>
          <mesh filename="//home/kwanwaipang/gazebo_so/VLP_16_model/meshes/VLP16_base_2.dae" />
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0.03585"/>
        <geometry>
          <cylinder radius="0.0516" length="0.0717"/>
        </geometry>
      </collision>
    </link>

    <joint name="${name}_base_scan_joint" type="fixed" >
      <origin xyz="0 0 0.0377" rpy="0 0 0" />
      <parent link="${name}_base_link" />
      <child link="${name}"/>
    </joint>

    <link name="${name}">
      <inertial>
        <mass value="0.01"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
      </inertial>
      <visual>
        <origin xyz="0 0 -0.0377" />
        <geometry>
          <mesh filename="//home/kwanwaipang/gazebo_so/VLP_16_model/meshes/VLP16_scan.dae" />
        </geometry>
      </visual>
    </link>

    <!-- Gazebo requires the velodyne_gazebo_plugins package -->
    <gazebo reference="${name}">
      <xacro:if value="${gpu}">
        <sensor type="gpu_ray" name="${name}-VLP16">
          <pose>0 0 0 0 0 0</pose>
          <visualize>false</visualize>
          <update_rate>${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>-${15.0*M_PI/180.0}</min_angle>
                <max_angle> ${15.0*M_PI/180.0}</max_angle>
              </vertical>
            </scan>
            <range>
              <min>${collision_range}</min>
              <max>${max_range+1}</max>
              <resolution>0.001</resolution>
            </range>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>0.0</stddev>
            </noise>
          </ray>
          <plugin name="gazebo_ros_laser_controller" filename="/home/kwanwaipang/gazebo_so/libgazebo_ros_velodyne_gpu_laser.so">
            <topicName>${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}-VLP16">
          <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>${lasers}</samples>
                <resolution>1</resolution>
                <min_angle>-${15.0*M_PI/180.0}</min_angle>
                <max_angle> ${15.0*M_PI/180.0}</max_angle>
              </vertical>
            </scan>
            <range>
              <min>${collision_range}</min>
              <max>${max_range+1}</max>
              <resolution>0.001</resolution>
            </range>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>0.0</stddev>
            </noise>
          </ray>
          <plugin name="gazebo_ros_laser_controller" filename="/home/kwanwaipang/gazebo_so/libgazebo_ros_velodyne_laser.so">
            <topicName>${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>
</robot>

更改对应的gazebo.xacro文件，把该加进去的sensor.so文件加进去

 <!-- camera -->
  <gazebo reference="camera_rgb_frame">
    <sensor type="camera" name="camera1">
      <!-- <update_rate>30.0</update_rate> -->
      <camera name='__default__'>
        <horizontal_fov>1.8</horizontal_fov>
        <image>
          <width>128</width>
           <height>128</height>
          <!-- <format>R8G8B8</format> -->
        </image>
        <clip>
          <near>0.1</near>
          <far>100</far>
        </clip>
        <!-- <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise> -->
      </camera>
      <update_rate>60</update_rate>
        <alwaysOn>1</alwaysOn>
         <visualize>0</visualize>
      <plugin name="camera_controller" filename="/home/kwanwaipang/catkin_ws/devel/lib/libgazebo_dvs_plugin.so">
        <!-- <alwaysOn>true</alwaysOn> -->
        <!-- <alwaysOn>1</alwaysOn> -->
        <!-- <update_rate>60</update_rate> -->
         <!-- <visualize>0</visualize> -->
        <!-- <updateRate>0.0</updateRate> -->
        <eventThreshold>8</eventThreshold>
        <cameraName>camera1</cameraName>
        <robotNamespace>/</robotNamespace>
        <!-- <imageTopicName>image_raw</imageTopicName> -->
        <eventsTopicName>events</eventsTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <!-- <frameName>camera_rgb_optical_frame</frameName> -->
        <!-- <hackBaseline>0.07</hackBaseline> -->
        <!-- <distortionK1>0.0</distortionK1> -->
        <!-- <distortionK2>0.0</distortionK2> -->
        <!-- <distortionK3>0.0</distortionK3> -->
        <!-- <distortionT1>0.0</distortionT1> -->
        <!-- <distortionT2>0.0</distortionT2> -->
      </plugin>

<!-- 把普通的camera也加入 -->
       <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <cameraName>camera1</cameraName>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>

    </sensor>
  </gazebo>

对应的davis_mono.launch如下

<launch>
  <!-- camera driver -->
  <node name="davis_ros_driver" pkg="davis_ros_driver" type="davis_ros_driver" />

  <!-- visualization -->
  <node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer">
    <!-- <param name="display_method" value="grayscale"/> -->
    <param name="display_method" value="red-blue"/>
    <!-- <remap from="events" to="/dvs/events" /> -->
    <remap from="events" to="/camera1/events" />
    <!-- <remap from="image" to="/dvs/image_raw" /> -->
     <remap from="image" to="/camera1/rgb/image_raw" />
    <!-- <remap from="camera_info" to="/dvs/camera_info" /> -->
      <remap from="camera_info" to="/camera1/rgb/camera_info" />
  </node>

  <!-- display -->
  <node name="image_view" pkg="rqt_image_view" type="rqt_image_view">
  	<remap from="image" to="dvs_rendering"/>
  </node>

  <!-- configure -->
  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />

</launch>

然后运行

roslaunch turtlebot3_navigation dvs_test.launch
rosrun turtlebot3_teleop turtlebot3_teleop_key
rostopic echo camera1/event1
roslaunch dvs_renderer davis_mono.launch
rosrun rviz rviz

图片效果：

视频效果：

标签：--,0.0,velodyne,range,camera,max,ROS,gazebo
来源： https://blog.csdn.net/gwplovekimi/article/details/120383451

本站声明： 1. iCode9 技术分享网（下文简称本站）提供的所有内容，仅供技术学习、探讨和分享；
2. 关于本站的所有留言、评论、转载及引用，纯属内容发起人的个人观点，与本站观点和立场无关；
3. 关于本站的所有言论和文字，纯属内容发起人的个人观点，与本站观点和立场无关；
4. 本站文章均是网友提供，不完全保证技术分享内容的完整性、准确性、时效性、风险性和版权归属；如您发现该文章侵犯了您的权益，可联系我们第一时间进行删除；
5. 本站为非盈利性的个人网站，所有内容不会用来进行牟利，也不会利用任何形式的广告来间接获益，纯粹是为了广大技术爱好者提供技术内容和技术思想的分享性交流网站。

关于我们 | 联系我们 | 留言反馈

专注分享技术，共同学习，共同进步。侵权联系[81616952@qq.com]

Copyright (C)ICode9.com, All Rights Reserved.

ICode9版权所有