Updates for URDF from PR 17: zivid#17

UoS-EEE-Automation · Feb 1, 2023 · 50de843 · 50de843
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diff --git a/zivid_description/CMakeLists.txt b/zivid_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(zivid_description)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+catkin_package()
+
+install(
+    DIRECTORY config launch meshes urdf
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/zivid_description/config/config.rviz b/zivid_description/config/config.rviz
@@ -0,0 +1,219 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 319
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: xyzrgb
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        zivid_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        zivid_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        zivid_base_link:
+          Value: true
+        zivid_optical_frame:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        zivid_base_link:
+          zivid_optical_frame:
+            {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.800000011920929
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: xyzrgb
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 2
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic: /zivid_camera/points/xyzrgba
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /zivid_camera/color/image_color
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: RGB
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /zivid_camera/depth/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Depth
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: zivid_base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.9196219444274902
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0.3382423222064972
+        Y: -0.2650257647037506
+        Z: 0.3934207558631897
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.36979764699935913
+      Target Frame: <Fixed Frame>
+      Yaw: 3.238583564758301
+    Saved: ~
+Window Geometry:
+  Depth:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 972
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000032efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ca000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000006005200470042010000020d000000940000001600fffffffb0000000a0044006500700074006801000002a7000000c40000001600ffffff000000010000016e0000032efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000032e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000032e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RGB:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 0
+  Y: 27
diff --git a/zivid_description/launch/load_zivid_one_plus_l_camera.launch b/zivid_description/launch/load_zivid_one_plus_l_camera.launch
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find zivid_description)/urdf/zivid_one_plus_l_camera.urdf.xacro'"/>
+</launch>
diff --git a/zivid_description/launch/load_zivid_one_plus_m_camera.launch b/zivid_description/launch/load_zivid_one_plus_m_camera.launch
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find zivid_description)/urdf/zivid_one_plus_m_camera.urdf.xacro'"/>
+</launch>
diff --git a/zivid_description/launch/load_zivid_one_plus_s_camera.launch b/zivid_description/launch/load_zivid_one_plus_s_camera.launch
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find zivid_description)/urdf/zivid_one_plus_s_camera.urdf.xacro'"/>
+</launch>
diff --git a/zivid_description/launch/view_zivid_one_plus_l_camera.launch b/zivid_description/launch/view_zivid_one_plus_l_camera.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find zivid_description)/launch/load_zivid_one_plus_l_camera.launch" />
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zivid_description)/config/config.rviz" required="true"/>
+</launch>
diff --git a/zivid_description/launch/view_zivid_one_plus_m_camera.launch b/zivid_description/launch/view_zivid_one_plus_m_camera.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find zivid_description)/launch/load_zivid_one_plus_m_camera.launch" />
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zivid_description)/config/config.rviz" required="true"/>
+</launch>
diff --git a/zivid_description/launch/view_zivid_one_plus_s_camera.launch b/zivid_description/launch/view_zivid_one_plus_s_camera.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find zivid_description)/launch/load_zivid_one_plus_s_camera.launch" />
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zivid_description)/config/config.rviz" required="true"/>
+</launch>
diff --git a/zivid_description/meshes/collision/zivid-one-plus.stl b/zivid_description/meshes/collision/zivid-one-plus.stl
diff --git a/zivid_description/meshes/visual/zivid-one-plus.stl b/zivid_description/meshes/visual/zivid-one-plus.stl
diff --git a/zivid_description/package.xml b/zivid_description/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>zivid_description</name>
+  <version>0.1.0</version>
+  <description>Description of visual and collision geometry of Zivid One+ 3D Camera</description>
+
+  <maintainer email="[email protected]">Zivid</maintainer>
+  <author email="[email protected]">Dave Kroezen - SAM|XL</author>
+
+  <license>BSD3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>
diff --git a/zivid_description/urdf/macros/zivid_one_plus_camera.xacro b/zivid_description/urdf/macros/zivid_one_plus_camera.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- Zivid One+ Types: Can be accessed globally and used as identifiers -->
+    <xacro:property name="Zivid_One_Plus_S" value="0" scope="global" />
+    <xacro:property name="Zivid_One_Plus_M" value="1" scope="global" />
+    <xacro:property name="Zivid_One_Plus_L" value="2" scope="global" />
+
+    <!-- Zivid One+ Optical Frame Angles -->
+    <xacro:property name="angle_type_s" value="15.0" />
+    <xacro:property name="angle_type_m" value="8.5" />
+    <xacro:property name="angle_type_l" value="6.0" />
+
+    <!-- Material Properties -->
+    <material name="zivid_gray">
+        <color rgba="0.25 0.25 0.25 1"/>
+    </material>
+
+    <xacro:macro name="zivid_one_plus_camera" params="prefix type">
+        <!-- Zivid Base Link -->
+        <link name="${prefix}base_link">
+            <!-- Visuals -->
+            <visual>
+                <origin xyz="-0.0030 -0.0758 0.0445" rpy="${0.5*pi} 0 ${0.5*pi}"/>
+                <geometry>
+                    <mesh filename="package://zivid_description/meshes/visual/zivid-one-plus.stl" scale="0.001 0.001 0.001"/>
+                </geometry>
+                <material name="zivid_gray"/>
+            </visual>
+
+            <!-- Collisions -->
+            <collision>
+                <origin xyz="-0.0030 -0.0758 0.0445" rpy="${0.5*pi} 0 ${0.5*pi}"/>
+                <geometry>
+                    <mesh filename="package://zivid_description/meshes/collision/zivid-one-plus.stl" scale="0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+        </link>
+
+        <!-- Zivid Optical Frame (Measurement Frame)-->
+        <link name="${prefix}optical_frame"/>
+
+        <!-- Set the angle of the optical frame based on the type -->
+        <xacro:if value="${type == Zivid_One_Plus_S}" >
+            <xacro:property name="optical_frame_angle" value="${angle_type_s}" />
+        </xacro:if>
+        <xacro:if value="${type == Zivid_One_Plus_M}" >
+            <xacro:property name="optical_frame_angle" value="${angle_type_m}" />
+        </xacro:if>
+        <xacro:if value="${type == Zivid_One_Plus_L}" >
+            <xacro:property name="optical_frame_angle" value="${angle_type_l}" />
+        </xacro:if>
+
+        <!-- Zivid Optical (Measurement) Joint -->
+        <joint name="${prefix}optical_joint" type="fixed">
+            <origin xyz="0.065 0.062 0.0445" rpy="-${0.5*pi} 0 -${0.5*pi + optical_frame_angle/180*pi}"/>
+            <parent link="${prefix}base_link"/>
+            <child link="${prefix}optical_frame"/>
+        </joint>
+    </xacro:macro>
+</robot>
diff --git a/zivid_description/urdf/zivid_one_plus_l_camera.urdf.xacro b/zivid_description/urdf/zivid_one_plus_l_camera.urdf.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<robot name="zivid_one_plus_camera_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:include filename="$(find zivid_description)/urdf/macros/zivid_one_plus_camera.xacro"/>
+    <xacro:zivid_one_plus_camera prefix="zivid_" type="${Zivid_One_Plus_L}"/>
+</robot>
diff --git a/zivid_description/urdf/zivid_one_plus_m_camera.urdf.xacro b/zivid_description/urdf/zivid_one_plus_m_camera.urdf.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<robot name="zivid_one_plus_camera_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:include filename="$(find zivid_description)/urdf/macros/zivid_one_plus_camera.xacro"/>
+    <xacro:zivid_one_plus_camera prefix="zivid_" type="${Zivid_One_Plus_M}"/>
+</robot>
diff --git a/zivid_description/urdf/zivid_one_plus_s_camera.urdf.xacro b/zivid_description/urdf/zivid_one_plus_s_camera.urdf.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<robot name="zivid_one_plus_camera_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:include filename="$(find zivid_description)/urdf/macros/zivid_one_plus_camera.xacro"/>
+    <xacro:zivid_one_plus_camera prefix="zivid_" type="${Zivid_One_Plus_S}"/>
+</robot>
diff --git a/zivid_samples/launch/init_zivid_one_plus_m_camera.launch b/zivid_samples/launch/init_zivid_one_plus_m_camera.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <arg name="type"/>
+    <arg name="name" default=""/>
+    <node name="zivid_camera" pkg="zivid_camera" type="zivid_camera_node" ns="zivid_camera" output="screen"/>
+    <node name="$(arg name)" pkg="zivid_samples" type="$(arg type)" output="screen"/>
+    <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
+    <include ns="zivid_camera" file="$(find zivid_description)/launch/view_zivid_one_plus_m_camera.launch"/>
+</launch>
diff --git a/zivid_samples/launch/sample.launch b/zivid_samples/launch/sample.launch
@@ -1,3 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <launch>
     <arg name="type"/>
     <arg name="name" default=""/>