Fix RVIZ visualization and add support for virtual

montrealrobotics · Apr 19, 2024 · bdc19d5 · bdc19d5
1 parent d728d4a
commit bdc19d5
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Showing 23 changed files with 889 additions and 670 deletions.
diff --git a/examples/zed_aruco_localization/config/aruco_loc.yaml b/examples/zed_aruco_localization/config/aruco_loc.yaml
@@ -15,11 +15,11 @@
         refine_detection: false     # If enabled the corners of the detected markers will be processed to obtain sub-pixel precision
 
       debug:
-        active: false               # Enable debug messages
+        active: true               # Enable debug messages
 
       marker_000:
-        aruco_id: 43                 # ID of the ArUco tag as retrieved by the ArUco Detector code
-        position: [-1.08,-0.56,0.63] # Pose with respect to the World origin [m]
+        aruco_id: 40                 # ID of the ArUco tag as retrieved by the ArUco Detector code
+        position: [0.0,0.0,0.0] # Pose with respect to the World origin [m]
         orientation: [0.0,0.0,0.0]   # Orientation with respect to the World origin [rad]
 
       marker_001:

diff --git a/examples/zed_aruco_localization/launch/zed_aruco_loc.launch.py b/examples/zed_aruco_localization/launch/zed_aruco_loc.launch.py
@@ -141,7 +141,7 @@ def launch_setup(context, *args, **kwargs):
             {
                 'general.camera_name': camera_name_val,
                 'general.camera_model': camera_model_val,
-                'general.svo_file': svo_path,
+                'svo.svo_path': svo_path,
                 'general.serial_number': serial_number,
                 'pos_tracking.publish_tf': publish_tf,
                 'pos_tracking.publish_map_tf': publish_map_tf,
@@ -198,7 +198,7 @@ def generate_launch_description():
             DeclareLaunchArgument(
                 'camera_model',
                 description='[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features.',
-                choices=['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm']),
+                choices=['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']),
             DeclareLaunchArgument(
                 'zed_node_name',
                 default_value='zed_node',
@@ -251,7 +251,7 @@ def generate_launch_description():
             DeclareLaunchArgument(
                 'svo_path',
                 default_value=TextSubstitution(text='live'),
-                description='Path to an input SVO file. Note: overrides the parameter `general.svo_file` in `common.yaml`.'),
+                description='Path to an input SVO file.'),
             DeclareLaunchArgument(
                 'rviz',
                 default_value='true',

diff --git a/examples/zed_aruco_localization/rviz2/aruco.rviz b/examples/zed_aruco_localization/rviz2/aruco.rviz
@@ -695,7 +695,7 @@ Visualization Manager:
       Name: Sensors
   Enabled: true
   Global Options:
-    Background Color: 48; 48; 48
+    Background Color: 90; 90; 90
     Fixed Frame: map
     Frame Rate: 30
   Name: root

diff --git a/examples/zed_depth_to_laserscan/README.md b/examples/zed_depth_to_laserscan/README.md
@@ -58,7 +58,7 @@ The `zed_wrapper_component` variable defines the ZED node:
             {
                 'general.camera_name': camera_name_val,
                 'general.camera_model': camera_model_val,
-                'general.svo_file': svo_path,
+                'svo.svo_path': svo_path,
                 'general.serial_number': serial_number
             }
         ],

diff --git a/examples/zed_depth_to_laserscan/launch/zed_depth_to_laserscan.launch.py b/examples/zed_depth_to_laserscan/launch/zed_depth_to_laserscan.launch.py
@@ -137,7 +137,7 @@ def launch_setup(context, *args, **kwargs):
             {
                 'general.camera_name': camera_name_val,
                 'general.camera_model': camera_model_val,
-                'general.svo_file': svo_path,
+                'svo.svo_path': svo_path,
                 'general.serial_number': serial_number
             }
         ],
@@ -194,7 +194,7 @@ def generate_launch_description():
             DeclareLaunchArgument(
                 'camera_model',
                 description='[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features.',
-                choices=['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm']),
+                choices=['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']),
             DeclareLaunchArgument(
                 'zed_node_name',
                 default_value='zed_node',
@@ -223,7 +223,7 @@ def generate_launch_description():
             DeclareLaunchArgument(
                 'svo_path',
                 default_value=TextSubstitution(text='live'),
-                description='Path to an input SVO file. Note: overrides the parameter `general.svo_file` in `common.yaml`.'),
+                description='Path to an input SVO file.'),
             DeclareLaunchArgument(
                 'rviz',
                 default_value='true',

diff --git a/examples/zed_depth_to_laserscan/rviz2/zed_depth_to_laserscan.rviz b/examples/zed_depth_to_laserscan/rviz2/zed_depth_to_laserscan.rviz
@@ -710,7 +710,7 @@ Visualization Manager:
       Name: Sensors
   Enabled: true
   Global Options:
-    Background Color: 48; 48; 48
+    Background Color: 90; 90; 90
     Fixed Frame: map
     Frame Rate: 30
   Name: root

diff --git a/rviz-plugin-zed-od/README.md b/rviz-plugin-zed-od/README.md
@@ -31,7 +31,7 @@ Install the [zed-ros2-examples](https://github.com/stereolabs/zed-ros2-examples)
 
     $ ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=<camera_model>
 
-Please replace `<camera_model>` with the model of the camera that you are using: `'zedm'`, `'zed2'`, `'zed2i'`, `'zedx'`, `'zedxm'`.
+Please replace `<camera_model>` with the model of the camera that you are using: `'zedm'`, `'zed2'`, `'zed2i'`, `'zedx'`, `'zedxm'`, `'virtual'`.
 
 **Note**: Object Detection and Body Tracking are not available with the "ZED" Gen.1 camera.
 

diff --git a/tutorials/zed_robot_integration/rviz2/view_config.rviz b/tutorials/zed_robot_integration/rviz2/view_config.rviz
@@ -200,7 +200,7 @@ Visualization Manager:
       Value: true
   Enabled: true
   Global Options:
-    Background Color: 48; 48; 48
+    Background Color: 90; 90; 90
     Fixed Frame: base_link
     Frame Rate: 30
   Name: root

diff --git a/tutorials/zed_robot_integration/urdf/zed_robot_mono.urdf.xacro b/tutorials/zed_robot_integration/urdf/zed_robot_mono.urdf.xacro
@@ -20,13 +20,14 @@
   <xacro:arg name="camera_name"   default="zed" />
   <xacro:arg name="camera_model"  default="zedx" />
   <xacro:arg name="use_zed_localization" default="true" />
+  <xacro:arg name="baseline" default="0.0" />
 
   <!-- Include the robot (e.g. AgileX Scout mini) -->
   <xacro:include filename="$(find scout_description)/urdf/scout_mini.xacro" />
 
   <!-- Add one ZED Camera -->
   <xacro:include filename="$(find zed_wrapper)/urdf/zed_macro.urdf.xacro" />
-  <xacro:zed_camera name="$(arg camera_name)" model="$(arg camera_model)" />
+  <xacro:zed_camera name="$(arg camera_name)" model="$(arg camera_model)" baseline="$(arg baseline)"/>
 
   <!-- Add a joint to connect the ZED Camera to the robot -->
   <xacro:if value="$(arg use_zed_localization)">

diff --git a/zed_display_rviz2/README.md b/zed_display_rviz2/README.md
@@ -36,7 +36,7 @@ Use the following launch command to start the ZED ROS2 Wrapper node and RVIZ2 wi
 $ ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=<camera_model>
 ```
 
-Replace `<camera_model>` with the model of the camera that you are using: `'zed'`, `'zedm'`, `'zed2'`, `'zed2i'`, `'zedx'`, `'zedxm'`.
+Replace `<camera_model>` with the model of the camera that you are using: `'zed'`, `'zedm'`, `'zed2'`, `'zed2i'`, `'zedx'`, `'zedxm'`, `'virtual'`.
 
 ![ZED rendering on Rviz](images/depthcloud-RGB.jpg)
 ![ZED rendering on Rviz](images/ZEDM-Rviz.jpg)

diff --git a/zed_display_rviz2/launch/display_zed_cam.launch.py b/zed_display_rviz2/launch/display_zed_cam.launch.py
@@ -93,7 +93,7 @@ def generate_launch_description():
             DeclareLaunchArgument(
                 'camera_model',
                 description='[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features.',
-                choices=['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm']),
+                choices=['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']),
             OpaqueFunction(function=launch_setup)
         ]
     )
diff --git a/zed_display_rviz2/launch/obsolete/display_zed.launch.py b/zed_display_rviz2/launch/obsolete/display_zed.launch.py
diff --git a/zed_display_rviz2/launch/obsolete/display_zed2.launch.py b/zed_display_rviz2/launch/obsolete/display_zed2.launch.py