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Fix examples #198

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9ea2949
Fix rgb/bgr rendering
jelledouwe Sep 15, 2021
0e6eec5
Automate calibration routine
jelledouwe Sep 15, 2021
4aade2c
More accurate calibration
jelledouwe Sep 15, 2021
3f14f81
Update demo
jelledouwe Sep 15, 2021
153d964
Add webots demo
jelledouwe Sep 17, 2021
59e5228
Add urdf and frame to Pybullet parameters
jelledouwe Sep 20, 2021
3d974a0
Create urdf that is compatible with pybullet and gazebo
jelledouwe Sep 20, 2021
9105f04
Update examples
jelledouwe Sep 20, 2021
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6 changes: 4 additions & 2 deletions eager_core/src/eager_core/render_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,11 @@ def render(self):
if self.image_ros is None:
return
try:
cv_image = self.bridge.imgmsg_to_cv2(self.image_ros)
# Related issue: https://github.com/ros-perception/vision_opencv/issues/207
cv_image = np.frombuffer(self.image_ros.data, dtype=np.uint8).reshape(self.image_ros.height, self.image_ros.width, -1)
cv_image = cv2.cvtColor(cv_image, cv2.COLOR_RGB2BGR)
# cv_image = np.frombuffer(self.image_ros.data, dtype=np.uint8).reshape(self.image_ros.height, self.image_ros.width, -1)
if not self.image_ros.encoding == 'bgra8':
cv_image = cv2.cvtColor(cv_image, cv2.COLOR_RGB2BGR)
except CvBridgeError as e:
print(e)
return
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2 changes: 1 addition & 1 deletion eager_robots/eager_robot_vx300s/config/vx300s.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ actuators:
states:
joint_pos:
type: boxf32
high: [3.14158, 0.628315, 1.605702, 3.14158, 2.23402, 3.14158]
high: [3.14158, 0.628315, 0.802851, 3.14158, 2.23402, 3.14158]
low: [-3.14158, -0.92502, -1.76278, -3.14158, -1.86750, -3.14158]
joint_vel:
type: boxf32
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455 changes: 455 additions & 0 deletions eager_robots/eager_robot_vx300s/vx300s.urdf
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Large diffs are not rendered by default.

9 changes: 6 additions & 3 deletions eager_sensors/eager_sensor_multisense_s21/config/dual_cam.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,12 @@ sensors:
type: boxu8
high: 255
low: 0
shape: [1024, 544, 4]
shape: [544, 1024, 4]
camera_left:
type: boxu8
high: 255
low: 0
shape: [1024, 544, 4]
shape: [544, 1024, 4]

webots:
node_type_name: MultiSenseS21
Expand All @@ -27,10 +27,12 @@ webots:
- MultiSense_S21_left_camera

pybullet:
urdf:
xacro: $(find eager_sensor_multisense_s21)/urdf/multisense_s21.urdf.xacro
urdf_name: multisense_s21
sensors:
camera_right:
type: camera_rgbd
optical_frame_link: right_camera_optical_frame
names: [MultiSense_S21_right_camera]
intrinsic:
fov: 80.21 # (deg)
Expand All @@ -44,6 +46,7 @@ pybullet:

camera_left:
type: camera_rgbd
optical_frame_link: left_camera_optical_frame
names: [MultiSense_S21_left_camera]
intrinsic:
fov: 80.21 # (deg)
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2 changes: 1 addition & 1 deletion eager_sensors/eager_sensor_multisense_s21/launch/gazebo.launch
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Expand Up @@ -7,7 +7,7 @@
<!-- Robot state publisher -->
<group ns="$(arg ns)">
<param name="robot_description"
command="$(find xacro)/xacro '$(find eager_sensor_multisense_s21)/urdf/multisense_s21.urdf.xacro'"/>
command="$(find xacro)/xacro '$(find eager_sensor_multisense_s21)/urdf/multisense_s21.urdf.xacro' gazebo:=true"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
</node>
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88 changes: 88 additions & 0 deletions eager_sensors/eager_sensor_multisense_s21/multisense_s21.urdf
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@@ -0,0 +1,88 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/jelle/eager_ws/src/eager_sensor_multisense_s21/urdf/multisense_s21.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="multisense">
<link name="world"/>
<joint name="dummy_joint" type="fixed">
<origin xyz="0.0 0.0 0.0"/>
<parent link="world"/>
<child link="head"/>
</joint>
<link name="head">
<inertial>
<origin rpy="0 0 0" xyz="-0.075493 3.3383E-05 0.02774"/>
<mass value="1.4199"/>
<inertia ixx="0.0039688" ixy="-1.5797E-06" ixz="-0.00089293" iyy="0.0041178" iyz="-6.8415E-07" izz="0.0035243"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<mesh filename="/home/jelle/eager_ws/src/eager_sensor_multisense_s21/meshes/multisense_s21.dae"/>
</geometry>
<material name="">
<color rgba="0.9098 0.44314 0.031373 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0503 0 -0.00195"/>
<geometry>
<box size="0.1311 0.12 0.0591"/>
</geometry>
</collision>
</link>
<!-- Note the origin of model is 37.3854mm from the rear mounting plane
in the x axis -->
<joint name="left_camera_joint" type="fixed">
<origin xyz="0.07 0.105 0.0"/>
<parent link="head"/>
<child link="left_camera_frame"/>
</joint>
<link name="left_camera_frame"/>
<joint name="right_camera_joint" type="fixed">
<origin xyz="0.07 -0.105 0.0"/>
<parent link="head"/>
<child link="right_camera_frame"/>
</joint>
<link name="right_camera_frame"/>
<joint name="left_camera_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0052046 0 0"/>
<parent link="left_camera_frame"/>
<child link="left_camera_optical_frame"/>
</joint>
<link name="left_camera_optical_frame"/>
<joint name="right_camera_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0052046 0 0"/>
<parent link="right_camera_frame"/>
<child link="right_camera_optical_frame"/>
</joint>
<link name="right_camera_optical_frame"/>
<joint name="top_left_rear_mount_joint" type="fixed">
<origin rpy="0 0 3.14159" xyz="-0.0373854 0.1 0.014"/>
<parent link="head"/>
<child link="top_left_rear_mount"/>
</joint>
<link name="top_left_rear_mount"/>
<!--Note the locations of the accel/mag and gyro differ from those shown
in CAD. The S21 firmware switches axis on the accel/mag and gyro to
match the S7/S7S/SL MultiSense configurations -->
<joint name="accel_joint" type="fixed">
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0045 0.029 -0.0135"/>
<parent link="head"/>
<child link="accel"/>
</joint>
<link name="accel"/>
<joint name="mag_joint" type="fixed">
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0045 0.029 -0.0135"/>
<parent link="head"/>
<child link="mag"/>
</joint>
<link name="mag"/>
<joint name="gyro_joint" type="fixed">
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.00219539 0.03758 -0.014"/>
<parent link="head"/>
<child link="gyro"/>
</joint>
<link name="gyro"/>
</robot>
12 changes: 10 additions & 2 deletions eager_sensors/eager_sensor_multisense_s21/urdf/multisense_s21.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,9 +1,17 @@
<robot name="multisense" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="gazebo" default="false"/>
<xacro:property name="load_gazebo" value="$(arg gazebo)"/>

<!-- import the camera -->
<xacro:include filename="$(find eager_sensor_multisense_s21)/urdf/camera.gazebo.xacro" />
<xacro:include filename="$(find eager_sensor_multisense_s21)/urdf/s21.urdf.xacro" />

<link name="world"/>

<!-- camera -->
<xacro:my_camera parent="world"/>
<xacro:sensor_s21 parent="world"/>

<xacro:if value="${load_gazebo}">
<xacro:include filename="$(find eager_sensor_multisense_s21)/urdf/s21.gazebo.xacro" />
<xacro:s21_gazebo/>
</xacro:if>
</robot>
103 changes: 1 addition & 102 deletions ...r_multisense_s21/urdf/camera.gazebo.xacro → ...nsor_multisense_s21/urdf/s21.gazebo.xacro
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Original file line number Diff line number Diff line change
@@ -1,108 +1,7 @@
<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="my_camera" params="parent">

<joint name="dummy_joint" type="fixed">
<origin xyz="0.0 0.0 0.0"/>
<parent link="${parent}"/>
<child link="head"/>
</joint>

<link name="head">
<inertial>
<origin xyz="-0.075493 3.3383E-05 0.02774" rpy="0 0 0" />
<mass value="1.4199" />
<inertia iyy="0.0041178" ixy="-1.5797E-06" iyz="-6.8415E-07" ixx="0.0039688" ixz="-0.00089293" izz="0.0035243" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="1.57079632679 0 1.57079632679" />
<geometry>
<mesh filename="package://eager_sensor_multisense_s21/meshes/multisense_s21.dae"/>
</geometry>
<material name="">
<color rgba="0.9098 0.44314 0.031373 1" />
</material>
</visual>
<collision>
<origin xyz="-0.0503 0 -0.00195" rpy="0 0 0" />
<geometry>
<box size="0.1311 0.12 0.0591"/>
</geometry>
</collision>
</link>

<!-- Note the origin of model is 37.3854mm from the rear mounting plane
in the x axis -->

<joint name="left_camera_joint" type="fixed">
<origin xyz="0.07 0.105 0.0"/>
<parent link="head"/>
<child link="left_camera_frame"/>
</joint>

<link name="left_camera_frame"/>

<joint name="right_camera_joint" type="fixed">
<origin xyz="0.07 -0.105 0.0"/>
<parent link="head"/>
<child link="right_camera_frame"/>
</joint>

<link name="right_camera_frame"/>

<joint name="left_camera_optical_joint" type="fixed">
<origin xyz="0.0052046 0 0" rpy="-1.57079632679 0.0 -1.57079632679"/>
<parent link="left_camera_frame"/>
<child link="left_camera_optical_frame"/>
</joint>

<link name="left_camera_optical_frame"/>

<joint name="right_camera_optical_joint" type="fixed">
<origin xyz="0.0052046 0 0" rpy="-1.57079632679 0.0 -1.57079632679"/>
<parent link="right_camera_frame"/>
<child link="right_camera_optical_frame"/>
</joint>

<link name="right_camera_optical_frame"/>

<joint name="top_left_rear_mount_joint" type="fixed">
<origin xyz="-0.0373854 0.1 0.014" rpy="0 0 3.14159"/>
<parent link="head"/>
<child link="top_left_rear_mount"/>
</joint>

<link name="top_left_rear_mount"/>

<!--Note the locations of the accel/mag and gyro differ from those shown
in CAD. The S21 firmware switches axis on the accel/mag and gyro to
match the S7/S7S/SL MultiSense configurations -->

<joint name="accel_joint" type="fixed">
<origin xyz="0.0045 0.029 -0.0135" rpy="0.0 1.57079632679 0.0"/>
<parent link="head"/>
<child link="accel"/>
</joint>

<link name="accel"/>

<joint name="mag_joint" type="fixed">
<origin xyz="0.0045 0.029 -0.0135" rpy="0.0 1.57079632679 0.0"/>
<parent link="head"/>
<child link="mag"/>
</joint>

<link name="mag"/>

<joint name="gyro_joint" type="fixed">
<origin xyz="-0.00219539 0.03758 -0.014" rpy="-1.57079632679 0 -1.57079632679"/>
<parent link="head"/>
<child link="gyro"/>
</joint>

<link name="gyro"/>

<xacro:macro name="s21_gazebo">
<gazebo reference="head">
<material>Gazebo/DarkGrey </material>
</gazebo>
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106 changes: 106 additions & 0 deletions eager_sensors/eager_sensor_multisense_s21/urdf/s21.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,106 @@
<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="sensor_s21" params="parent">

<joint name="dummy_joint" type="fixed">
<origin xyz="0.0 0.0 0.0"/>
<parent link="${parent}"/>
<child link="head"/>
</joint>

<link name="head">
<inertial>
<origin xyz="-0.075493 3.3383E-05 0.02774" rpy="0 0 0" />
<mass value="1.4199" />
<inertia iyy="0.0041178" ixy="-1.5797E-06" iyz="-6.8415E-07" ixx="0.0039688" ixz="-0.00089293" izz="0.0035243" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="1.57079632679 0 1.57079632679" />
<geometry>
<mesh filename="package://eager_sensor_multisense_s21/meshes/multisense_s21.dae"/>
</geometry>
<material name="">
<color rgba="0.9098 0.44314 0.031373 1" />
</material>
</visual>
<collision>
<origin xyz="-0.0503 0 -0.00195" rpy="0 0 0" />
<geometry>
<box size="0.1311 0.12 0.0591"/>
</geometry>
</collision>
</link>

<!-- Note the origin of model is 37.3854mm from the rear mounting plane
in the x axis -->

<joint name="left_camera_joint" type="fixed">
<origin xyz="0.07 0.105 0.0"/>
<parent link="head"/>
<child link="left_camera_frame"/>
</joint>

<link name="left_camera_frame"/>

<joint name="right_camera_joint" type="fixed">
<origin xyz="0.07 -0.105 0.0"/>
<parent link="head"/>
<child link="right_camera_frame"/>
</joint>

<link name="right_camera_frame"/>

<joint name="left_camera_optical_joint" type="fixed">
<origin xyz="0.0052046 0 0" rpy="-1.57079632679 0.0 -1.57079632679"/>
<parent link="left_camera_frame"/>
<child link="left_camera_optical_frame"/>
</joint>

<link name="left_camera_optical_frame"/>

<joint name="right_camera_optical_joint" type="fixed">
<origin xyz="0.0052046 0 0" rpy="-1.57079632679 0.0 -1.57079632679"/>
<parent link="right_camera_frame"/>
<child link="right_camera_optical_frame"/>
</joint>

<link name="right_camera_optical_frame"/>

<joint name="top_left_rear_mount_joint" type="fixed">
<origin xyz="-0.0373854 0.1 0.014" rpy="0 0 3.14159"/>
<parent link="head"/>
<child link="top_left_rear_mount"/>
</joint>

<link name="top_left_rear_mount"/>

<!--Note the locations of the accel/mag and gyro differ from those shown
in CAD. The S21 firmware switches axis on the accel/mag and gyro to
match the S7/S7S/SL MultiSense configurations -->

<joint name="accel_joint" type="fixed">
<origin xyz="0.0045 0.029 -0.0135" rpy="0.0 1.57079632679 0.0"/>
<parent link="head"/>
<child link="accel"/>
</joint>

<link name="accel"/>

<joint name="mag_joint" type="fixed">
<origin xyz="0.0045 0.029 -0.0135" rpy="0.0 1.57079632679 0.0"/>
<parent link="head"/>
<child link="mag"/>
</joint>

<link name="mag"/>

<joint name="gyro_joint" type="fixed">
<origin xyz="-0.00219539 0.03758 -0.014" rpy="-1.57079632679 0 -1.57079632679"/>
<parent link="head"/>
<child link="gyro"/>
</joint>

<link name="gyro"/>
</xacro:macro>
</robot>
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