Absolem rgbd fov fix #539
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Absolem rgbd fov fix #539
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nkoenig
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Aug 8, 2020
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* add test links to specifications.md and modify parameters in spawn.rb * Model submission for the OZBOT ATR sensor configurations 1 and 2 from CSIRO_DATA61 * added thumbnail of vehicle * Model submission for Gagarin sensor configuration 1 from CERBERUS * fixed issues from PR feedback: drive plugin settings, gas sensor, joint state publisher, imu noise, lidar params and camera settings * add barometer to m100 * turning radius note and config2 power load fix * Edited README.md addressing comments Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com> * Apply velocity and acceleration limits to submitted configs (#498) * Limit velocity and acceleration on costar husky Signed-off-by: Nate Koenig <nate@openrobotics.org> * clarify limits in specifications.md * add limits to remaining submitted configs * remove diversion since data was provided Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Angela Maio <angela.c.maio.civ@mail.mil> Co-authored-by: Angela Maio <50143934+angelacmaio@users.noreply.github.com> * Restoring velocity controller for moving gimbals (#503) Signed-off-by: Carlos Aguero <caguero@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Changed plugin for Picoflexx from gpu_ray to depth_camera Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com> * Fix spawner Signed-off-by: Nate Koenig <nate@openrobotics.org> * Revert run Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix z offset, and cleanup Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added marsupial capabilities Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added Cerberus Gagarin Signed-off-by: Nate Koenig <nate@openrobotics.org> * Bridge gas topic Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added Gagarin to X1 and R2 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Ctu cras norlab absolem sensor config 1 2 (#528) * Added CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1 and CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_2 (which only differ by breadcrumbs). * Added thumbnails. * Fixed realsense, omnicam, lights and mass properties. * Changed order of elements in joint_states to correspond to the real robot. * Added plugin for automatic handling of laser rotation. * Fixed problem with loading robot_description. * Fixed IMU parameters. * Fixed collision when flipped. * WIP: Flipper control plugin. * Added position control for remaining flippers Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix realsense camera Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Make Absolem turn Signed-off-by: Nate Koenig <nate@openrobotics.org> * Download new models Signed-off-by: Nate Koenig <nate@openrobotics.org> * Remove extra topics and joint states from Absolem model Signed-off-by: Nate Koenig <nate@openrobotics.org> * match API for RGBD * Fix position control Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix comment end Signed-off-by: Nate Koenig <nate@openrobotics.org> * Moved and realigned RGBD camera to not be obstructed by realsense mesh (#530) * Moved and realigned RGBD camera to not be obstructed by realsense mesh. * Adjust RGBD camera resolution to 640x480 to match other D435 sensors in the repository. * add barometer to model.sdf * match topic names to API * Adjustment of battery plugin on the CSIRO Data61 OZBOT ATR model to use generic X1 parameters tuned to 60 minutes of battery life until validation data is provided. * Record marsupial pairs (#531) * Record marsupial pairs Signed-off-by: Nate Koenig <nate@openrobotics.org> * Filter on performers Signed-off-by: Nate Koenig <nate@openrobotics.org> * Cleanup Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Monitor for dead battery events (#533) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Added a few missing optical frames, and removed the extra rgbd parameters from cerberus_m100 (#525) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Rotate marsupials (#536) * rotate marsupial children backwards for R2 and OZBOT * Added rotations to other launch files Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Angela Maio <angela.c.maio.civ@mail.mil> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Fix marsupial joints (#535) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Remove extra topics and joint states from Absolem model (#529) * Remove extra topics and joint states from Absolem model Signed-off-by: Nate Koenig <nate@openrobotics.org> * match API for RGBD * Fix position control Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix comment end Signed-off-by: Nate Koenig <nate@openrobotics.org> * rename omni topics * Fixed and added flipper velocity capacity for raw commanded velocities. * match gimbal cmd to API * match joint_state to API Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Angela Maio <angela.c.maio.civ@mail.mil> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> * Apply effort limits to the Absolem model Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix horizondal typo Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix sensor name Signed-off-by: Nate Koenig <nate@openrobotics.org> * Proper tof_bottom rename Signed-off-by: Nate Koenig <nate@openrobotics.org> * Trying effort of 40 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Trying a value of 30 Signed-off-by: Nate Koenig <nate@openrobotics.org> * effort=20 allows some obstacle traversal but no tiptoe driving * Extended GameLogicPlugin to check for vehicle flips (#519) * check for vehicle flips in GameLogicPlugin Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * using rotation matrix and dot product to check vehicle flip Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * cleaned up math for checking vehicle flips Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * moved check flip call outside of sensor portion in PostUpdate Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * added timeout to flip detection that handles false positives Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Fix breadcrumb deployment location Signed-off-by: Nate Koenig <nate@openrobotics.org> * update absolem specs after fixes and breadcrumbs * update ozbot specs with breadcrumbs * Adjustment of the FoV parameter to match resolution. (#539) Co-authored-by: Hong <hongbiaz@andrew.cmu.edu> Co-authored-by: Tom Molnar <TJMolnar@github.com> Co-authored-by: Mihir Kulkarni <mihirk284@gmail.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Carlos Agüero <caguero@osrfoundation.org> Co-authored-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> Co-authored-by: adlarkin <42042756+adlarkin@users.noreply.github.com>
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The Absolem vehicle
DepthCloudfor the RGBD sensor is incorrect in the optical frame.The issue was a FoV that did not correspond to the configured resolution leading to the
DepthCloudbeing stretched while the renderedPointCloud2was not. The fix is shown below: