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World and Apriltags #108

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37 changes: 37 additions & 0 deletions ca_description/urdf/create_apriltag.xacro
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="create_apriltag" params="parent *origin">
<joint name="apriltag_joint" type="fixed">
<xacro:insert_block name='origin' />
<parent link="${parent}" />
<child link="apriltag_link" />
</joint>

<link name="apriltag_link">
<visual>
<geometry>
<box size="0.5 0.5 0.01"/>
</geometry>
</visual>
</link>

<gazebo reference="apriltag_link">
<visual>
<material>
<script>
<uri>model://camera_world/apriltag3/materials/scripts/textures.material</uri>
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<uri>model://camera_world/apriltag3/materials/textures/apriltag3.png</uri>
<name>apriltag3</name>
</script>-
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>1 1 1 1</specular>
<emissive>1 1 1 1</emissive>
</material>
</visual>
</gazebo>

</xacro:macro>

</robot>
6 changes: 6 additions & 0 deletions ca_description/urdf/create_base.xacro
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Expand Up @@ -9,6 +9,7 @@
<xacro:include filename="$(find ca_description)/urdf/sensors/imu_sensor.xacro"/>
<xacro:include filename="$(find ca_description)/urdf/sensors/wall_sensor.xacro"/>
<xacro:include filename="$(find ca_description)/urdf/sensors/cliff_sensors.xacro"/>
<xacro:include filename="$(find ca_description)/urdf/create_apriltag.xacro"/>

<xacro:property name="base_link_offset_z" value="0.0308"/>
<xacro:property name="base_offset_z" value="0.017"/>
Expand Down Expand Up @@ -50,6 +51,11 @@
<origin xyz="0 -0.04 0.13" rpy="0 0 0"/>
</xacro:imu_sensor>

<xacro:create_apriltag parent="base_link">
<origin xyz="0 0 0.25" rpy="0 0 0"/>
</xacro:create_apriltag>


<xacro:create_wheel prefix="left" y_offset="${wheel_separation / 2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
<xacro:create_wheel prefix="right" y_offset="${wheel_separation / -2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
<xacro:caster_wheel/>
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19 changes: 19 additions & 0 deletions ca_gazebo/launch/create_camera_world.launch
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<launch>
<param name="create1/amcl/initial_pose_x" value="0"/>
<param name="create1/amcl/initial_pose_y" value="4"/>
<param name="create1/amcl/initial_pose_a" value="0"/>

<include file="$(find ca_gazebo)/launch/create_empty_world.launch">
<arg name="env" value="camera_world"/>
</include>

<node pkg="tf" type="static_transform_publisher" name="camera_link_tf" args="0 4 15 0 3.1416 0 map camera_link 50" />

<include file="$(find apriltag_ros)/launch/continuous_detection.launch">
<arg name="camera_name" value="camera_world/camera1"/>
<arg name="camera_frame" value="camera_link"/>
<arg name="image_topic" value="apriltag_tracking_camera"/>
</include>

</launch>

15 changes: 15 additions & 0 deletions ca_gazebo/models/camera_world/apriltag1/materials/scripts/textures.material
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material apriltag1
{
technique
{
pass
{
texture_unit
{
texture apriltag1.png
scale 1 1
}
}
}
}

Binary file added ca_gazebo/models/camera_world/apriltag1/materials/textures/apriltag1.png
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11 changes: 11 additions & 0 deletions ca_gazebo/models/camera_world/apriltag1/model.config
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<?xml version="1.0" ?>
<model>
<name>apriltag1</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Steven Desvars</name>
<email>steven.desvars@ekumenlabs.com</email>
</author>
<description>SDF model for apriltag1</description>
</model>
34 changes: 34 additions & 0 deletions ca_gazebo/models/camera_world/apriltag1/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='apriltag1'>
<static>1</static>
<link name="box">
<pose frame=''>0 0 0 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.5 0.5 0.01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.5 0.5 0.01</size>
</box>
</geometry>
<material>
<script>
<uri>model://camera_world/apriltag1/materials/scripts </uri>
<uri>model://camera_world/apriltag1/materials/textures </uri>
<name>apriltag1</name>
</script>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>1 1 1 1</specular>
<emissive>1 1 1 1</emissive>
</material>
</visual>
</link>
</model>
</sdf>
15 changes: 15 additions & 0 deletions ca_gazebo/models/camera_world/apriltag2/materials/scripts/textures.material
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material apriltag2
{
technique
{
pass
{
texture_unit
{
texture apriltag2.png
scale 1 1
}
}
}
}

Binary file added ca_gazebo/models/camera_world/apriltag2/materials/textures/apriltag2.png
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11 changes: 11 additions & 0 deletions ca_gazebo/models/camera_world/apriltag2/model.config
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<?xml version="1.0" ?>
<model>
<name>apriltag2</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Steven Desvars</name>
<email>steven.desvars@ekumenlabs.com</email>
</author>
<description>SDF model for apriltag2</description>
</model>
34 changes: 34 additions & 0 deletions ca_gazebo/models/camera_world/apriltag2/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='apriltag2'>
<static>1</static>
<link name="box">
<pose frame=''>0 0 0 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.5 0.5 0.01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.5 0.5 0.01</size>
</box>
</geometry>
<material>
<script>
<uri>model://camera_world/apriltag2/materials/scripts </uri>
<uri>model://camera_world/apriltag2/materials/textures </uri>
<name>apriltag2</name>
</script>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>1 1 1 1</specular>
<emissive>1 1 1 1</emissive>
</material>
</visual>
</link>
</model>
</sdf>
15 changes: 15 additions & 0 deletions ca_gazebo/models/camera_world/apriltag3/materials/scripts/textures.material
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material apriltag3
{
technique
{
pass
{
texture_unit
{
texture apriltag3.png
scale 1 1
}
}
}
}

Binary file added ca_gazebo/models/camera_world/apriltag3/materials/textures/apriltag3.png
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11 changes: 11 additions & 0 deletions ca_gazebo/models/camera_world/apriltag3/model.config
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<?xml version="1.0" ?>
<model>
<name>apriltag3</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Steven Desvars</name>
<email>steven.desvars@ekumenlabs.com</email>
</author>
<description>SDF model for apriltag3</description>
</model>
11 changes: 11 additions & 0 deletions ca_gazebo/models/camera_world/camera/model.config
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<?xml version="1.0" ?>
<model>
<name>camera</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Steven Desvars</name>
<email>steven.desvars@ekumenlabs.com</email>
</author>
<description>SDF model for camera</description>
</model>
58 changes: 58 additions & 0 deletions ca_gazebo/models/camera_world/camera/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='camera'>
<static>1</static>
<link name='camera_link'>
<visual name='visual'>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor type="camera" name="camera1">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
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Is alwaysOn a valid plugin tag?

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Check updateRate too

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check here

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To what I saw, always_on is a tag for the sensor and alwaysOn is used in plugins, same case with updateRate

<updateRate>60.0</updateRate>
<cameraName>camera_world/camera1</cameraName>
<imageTopicName>apriltag_tracking_camera</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</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>
</sensor>
</link>

<joint name="camera_optical_joint" type="fixed">
<parent>camera_link</parent>
<child>camera_optical_frame</child>
<pose frame=''>0 0 0 0 1.57 0</pose>
</joint>

<link name="camera_optical_frame"/>

</model>
</sdf>
16 changes: 16 additions & 0 deletions ca_gazebo/models/camera_world/model.config
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<?xml version="1.0"?>

<model>
<name>camera_world</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>

<description>
Dummy config file to avoid a warning message
</description>
</model>

11 changes: 11 additions & 0 deletions ca_gazebo/models/camera_world/walls/model.config
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<?xml version="1.0" ?>
<model>
<name>walls</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Steven Desvars</name>
<email>steven.desvars@ekumenlabs.com</email>
</author>
<description>Walls necessary to create an square room</description>
</model>
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