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Updated vehicle params based on PR feedback (depth topics, vel limits… #463

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Merged
merged 1 commit into from
Jun 15, 2020
Merged

Updated vehicle params based on PR feedback (depth topics, vel limits… #463

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4 changes: 4 additions & 0 deletions submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<wheel_separation>#{0.525}</wheel_separation>
<wheel_radius>0.129</wheel_radius>
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-3</min_acceleration>
<max_acceleration>3</max_acceleration>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
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51 changes: 51 additions & 0 deletions submitted_models/marble_hd2_sensor_config_1/launch/vehicle_topics.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,23 @@
args="$(arg sensor_prefix)/camera_front/depth_image">
<remap from="$(arg sensor_prefix)/camera_front/depth_image" to="front_facing/depth"/>
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_image_front_facing">
<remap from="input/image" to="front_facing/image_raw" />
<remap from="output/image" to="front_facing/optical/image_raw" />
<remap from="input/camera_info" to="front_facing/camera_info" />
<remap from="output/camera_info" to="front_facing/optical/camera_info" />
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth_front"
args="depth">
<remap from="input/image" to="front_facing/depth" />
<remap from="output/image" to="front_facing/optical/depth" />
</node>

<!--30 Degree downward looking RGBD camera -->
<node
Expand Down Expand Up @@ -135,6 +152,23 @@
args="$(arg sensor_prefix)/camera_down/depth_image">
<remap from="$(arg sensor_prefix)/camera_down/depth_image" to="front_down/depth"/>
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_image_front_down">
<remap from="input/image" to="front_down/image_raw" />
<remap from="output/image" to="front_down/optical/image_raw" />
<remap from="input/camera_info" to="front_down/camera_info" />
<remap from="output/camera_info" to="front_down/optical/camera_info" />
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth_down"
args="depth">
<remap from="input/image" to="front_down/depth" />
<remap from="output/image" to="front_down/optical/depth" />
</node>

<!--Pan Tilt RGBD camera -->
<node
Expand Down Expand Up @@ -165,6 +199,23 @@
args="$(arg gimbal_sensor_prefix)/camera_pan_tilt/depth_image">
<remap from="$(arg gimbal_sensor_prefix)/camera_pan_tilt/depth_image" to="pan_tilt/depth"/>
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_image_pan_tilt">
<remap from="input/image" to="pan_tilt/image_raw" />
<remap from="output/image" to="pan_tilt/optical/image_raw" />
<remap from="input/camera_info" to="pan_tilt/camera_info" />
<remap from="output/camera_info" to="pan_tilt/optical/camera_info" />
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth_pan_tilt"
args="depth">
<remap from="input/image" to="pan_tilt/depth" />
<remap from="output/image" to="pan_tilt/optical/depth" />
</node>

<!--OS1-64 3D Laser-->
<node
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4 changes: 2 additions & 2 deletions subt_ros/launch/competition_init.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,10 @@
type="subt_ros_relay"
name="subt_ros_relay"/>

<!--<node
<node
pkg="subt_ros"
type="bridge_logger"
name="bridge_logger"/>-->
name="bridge_logger"/>


<node
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