feat(turtlebot3_ws): Publish camera rgb through OmniGraph

Note that the `turtlebot3_burger_isaacsim.urdf.xacro` file is based on `turtlebot3_burger.urdf` Refs: - https://github.com/isaac-sim/urdf-importer-extension/blob/b161d55f4bcabe266b8db6707b5c2768aedcde21/source/extensions/omni.importer.urdf/data/urdf/tests/test_sensor.urdf#L52-L58 - https://github.com/isaac-sim/urdf-importer-extension/blob/b161d55f4bcabe266b8db6707b5c2768aedcde21/source/extensions/omni.importer.urdf/data/urdf/tests/test_advanced.urdf#L148-L154
j3soon · Jan 6, 2025 · af51feb · af51feb
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diff --git a/docs/turtlebot3-ws/index.md b/docs/turtlebot3-ws/index.md
@@ -66,6 +66,7 @@ Convert URDF file to USD file and generate OmniGraph:
 
 ```sh
 cd /home/ros2-essentials/turtlebot3_ws/isaacsim/scripts
+./create_urdf_from_xacro.sh
 python3 create_turtlebot3_burger_from_urdf.py
 python3 create_turtlebot3_burger_with_omnigraph.py
 ```

diff --git a/turtlebot3_ws/isaacsim/scripts/create_turtlebot3_burger_from_urdf.py b/turtlebot3_ws/isaacsim/scripts/create_turtlebot3_burger_from_urdf.py
@@ -48,7 +48,7 @@ def create_turtlebot3_burger_from_urdf(urdf_path, usd_path):
     omni.usd.get_context().save_stage()
 
 if __name__ == '__main__':
-    turtlebot3_burger_urdf_path = f'/home/ros2-essentials/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf'
+    turtlebot3_burger_urdf_path = f'/home/ros2-essentials/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger_isaacsim.urdf'
     turtlebot3_burger_usd_path = '/home/ros2-essentials/turtlebot3_ws/isaacsim/assets/turtlebot3_burger_urdf.usd'
     create_turtlebot3_burger_from_urdf(turtlebot3_burger_urdf_path, turtlebot3_burger_usd_path)
     print("Done")

diff --git a/turtlebot3_ws/isaacsim/scripts/create_turtlebot3_burger_with_omnigraph.py b/turtlebot3_ws/isaacsim/scripts/create_turtlebot3_burger_with_omnigraph.py
@@ -1,3 +1,4 @@
+# By setting `debug` as True, this script can be executed in the `Script Editor` in Isaac Sim GUI
 debug = False
 if not debug:
     # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html
@@ -23,6 +24,8 @@
 def create_turtlebot3_burger_with_omnigraph():
     # Create turtlebot3_burger
     turtlebot3_burger_prim_path = "/World/turtlebot3_burger_urdf"
+    camera_prim_path = "/World/turtlebot3_burger_urdf/base_scan/camera"
+    camera_frame_id = "turtle"
     cmd_vel_topic = "/cmd_vel"
     joint_name_0 = "wheel_left_joint"
     joint_name_1 = "wheel_right_joint"
@@ -101,6 +104,7 @@ def create_turtlebot3_burger_with_omnigraph():
             og.Controller.Keys.SET_VALUES: [
                 ("ArticulationController.inputs:targetPrim", turtlebot3_burger_prim_path),
                 ("SubscribeTwist.inputs:topicName", cmd_vel_topic),
+                # These three properties are hardcoded here, maybe it's better to infer them from the URDF/USD file.
                 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_drive_turtlebot.html#graph-explained
                 ("DifferentialController.inputs:maxLinearSpeed", 0.22),
                 ("DifferentialController.inputs:wheelDistance", 0.16),
@@ -114,7 +118,7 @@ def create_turtlebot3_burger_with_omnigraph():
             ],
         },
     )
-    # OmniGraph for Clock
+    # OmniGraph for Publishing Clock
     # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_clock.html
     og.Controller.edit(
         {"graph_path": "/ActionGraphClock", "evaluator_name": "execution"},
@@ -153,6 +157,32 @@ def create_turtlebot3_burger_with_omnigraph():
             ],
         },
     )
+    # OmniGraph for Publishing Camera RGB
+    og.Controller.edit(
+        {"graph_path": "/ActionGraphPublishCameraRGB", "evaluator_name": "execution"},
+        {
+            og.Controller.Keys.CREATE_NODES: [
+                ("Context", "omni.isaac.ros2_bridge.ROS2Context"),
+                ("OnPlaybackTick", "omni.graph.action.OnPlaybackTick"),
+                ("RunOnce", "omni.isaac.core_nodes.OgnIsaacRunOneSimulationFrame"),
+                ("RenderProduct", "omni.isaac.core_nodes.IsaacCreateRenderProduct"),
+                ("RGBPublish", "omni.isaac.ros2_bridge.ROS2CameraHelper"),
+            ],
+            og.Controller.Keys.CONNECT: [
+                ("OnPlaybackTick.outputs:tick", "RunOnce.inputs:execIn"),
+                ("RunOnce.outputs:step", "RenderProduct.inputs:execIn"),
+                ("RenderProduct.outputs:execOut", "RGBPublish.inputs:execIn"),
+                ("RenderProduct.outputs:renderProductPath", "RGBPublish.inputs:renderProductPath"),
+                ("Context.outputs:context", "RGBPublish.inputs:context"),
+            ],
+            og.Controller.Keys.SET_VALUES: [
+                ("RenderProduct.inputs:cameraPrim", camera_prim_path),
+                ("RGBPublish.inputs:type", "rgb"),
+                ("RGBPublish.inputs:topicName", "rgb"),
+                ("RGBPublish.inputs:frameId", camera_frame_id),
+            ],
+        },
+    )
 
 if __name__ == '__main__':
     # Ref: https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/extensions/enable-kit-extension.html

diff --git a/turtlebot3_ws/isaacsim/scripts/create_urdf_from_xacro.sh b/turtlebot3_ws/isaacsim/scripts/create_urdf_from_xacro.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+cd /home/ros2-essentials/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf
+# Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.html
+xacro turtlebot3_burger_isaacsim.urdf.xacro > /home/ros2-essentials/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger_isaacsim.urdf
diff --git a/...ebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger_isaacsim.urdf.xacro b/...ebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger_isaacsim.urdf.xacro
@@ -0,0 +1,204 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/> -->
+
+  <!-- Init colour -->
+  <material name="black">
+      <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="1.0 0.4235 0.0392 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="0.8706 0.8118 0.7647 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.140 0.140 0.143"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="8.2573504e-01"/>
+      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05" iyy="2.1193702e-03" iyz="-5.0120904e-06" izz="2.0064271e-03" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
+    </inertial>
+  </link>
+
+  <joint name="caster_back_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_link"/>
+    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+    </inertial>
+  </link>
+
+  <sensor name="camera" type="camera" update_rate="30">
+    <parent link="base_scan"/>
+    <origin xyz="0 0 0.03" rpy="${pi/2} 0 ${-pi/2}"/>
+    <camera>
+      <image width="640" height="480" hfov="1.5708" format="RGB8" near="0.01" far="50.0"/>
+    </camera>
+  </sensor>
+
+</robot>