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Merged
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Jun 30, 2021
Merged

Absolem: fix bad merge #957

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123 changes: 123 additions & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro
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@@ -0,0 +1,123 @@
<?xml version="1.0"?>
<root xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Mass properties from datasheet -->
<xacro:property name="basler_ace_mass" value="0.09" scope="global" />
<xacro:property name="basler_ace2_pro_mass" value="0.105" scope="global" />
<xacro:property name="fisheye_lens_mass" value="0.05" scope="global" />
<xacro:property name="omnicam_lens_mass" value="0.127" scope="global" />
<xacro:property name="c_mount_flange_distance" value="0.017526" scope="global" />
<xacro:property name="c_mount_radius" value="${0.025/2}" scope="global" />

<xacro:macro name="basler_ace_base" params="name hfov_deg frame_rate resolution_x resolution_y fisheye:=0 camera_length origin_to_camera_front_dist camera_mass camera_mesh lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0">
<xacro:property name="camera_width" value="0.029"/>
<xacro:property name="camera_height" value="0.029"/>

<xacro:property name="sensor_chip_pos" value="${origin_to_camera_front_dist - c_mount_flange_distance}" />
<xacro:property name="lens_back_pos" value="${sensor_chip_pos + lens_back_focal_distance}" />

<link name="$(arg prefix)${name}">
<visual>
<origin xyz="0 0 ${camera_height/2}" rpy="0 0 0" />
<geometry>
<!-- The origin of the mesh is center above tripod screw -->
<mesh filename="${camera_mesh}"/>
</geometry>
</visual>
<visual>
<!-- The origin of the mesh is at the back of the lens -->
<origin xyz="${lens_back_pos} 0 ${camera_height/2}" rpy="0 0 0" />
<geometry>
<mesh filename="${lens_mesh}"/>
</geometry>
</visual>
<collision name="${name}_collision">
<origin rpy="0 0 0" xyz="${origin_to_camera_front_dist - camera_length/2} 0 ${camera_height/2}"/>
<geometry>
<box size="${camera_length} ${camera_width} ${camera_height}" />
</geometry>
</collision>
<collision name="${name}_lens_collision">
<origin rpy="0 ${pi/2} 0" xyz="${lens_back_pos + lens_length/2} 0 ${camera_height/2}"/>
<geometry>
<cylinder length="${lens_length}" radius="${c_mount_radius}" />
</geometry>
</collision>
<xacro:box_inertial mass="${camera_mass + lens_mass}"
width="${camera_width}" height="${camera_height}" depth="${camera_length + lens_length - (c_mount_flange_distance - lens_back_focal_distance)}"
xyz="${origin_to_camera_front_dist + (lens_length - (c_mount_flange_distance - lens_back_focal_distance))/2 - camera_length/2} 0 ${camera_height/2}" />
</link>
<xacro:if value="${simulate}">
<gazebo reference="$(arg prefix)${name}">
<!-- Workaround for https://github.com/ignitionrobotics/ign-sensors/issues/24 -->
<xacro:if value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}">
<xacro:property name="cam_type" value="camera"/>
</xacro:if>
<xacro:unless value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}">
<xacro:property name="cam_type" value="wideanglecamera"/>
</xacro:unless>
<sensor name="${name}" type="${cam_type}">
<!-- I think the simulated sensor should be placed in the middle of the entrance pupil. -->
<xacro:property name="virtual_lens_origin" value="${lens_back_pos + lens_length - lens_entrance_pupil_position}" />
<pose>${virtual_lens_origin} 0 ${camera_height/2} 0 0 0</pose>
<update_rate>${frame_rate}</update_rate>
<visualize>${visualize}</visualize>
<camera>
<horizontal_fov>${radians(hfov_deg)}</horizontal_fov>
<image>
<width>${resolution_x}</width>
<height>${resolution_y}</height>
<format>R8G8B8</format>
</image>
<clip>
<xacro:property name="clip" value="${lens_entrance_pupil_position * 1.1 if near_clip == -1 else near_clip}" />
<near>${clip}</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
<xacro:if value="${fisheye and '$(arg rendering_target)' == 'gz'}">
<lens>
<type>stereographic</type>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>${pi}</cutoff_angle>
<env_texture_size>1024</env_texture_size>
</lens>
</xacro:if>
<xacro:unless value="${fisheye and '$(arg rendering_target)' == 'gz'}">
<lens>
<intrinsics>
<xacro:property name="f" value="${resolution_x / (2 * tan(radians(hfov_deg)/2))}" />
<fx>${f}</fx>
<fy>${f}</fy>
<cx>${(resolution_x - 1) / 2}</cx>
<cy>${(resolution_y - 1) / 2}</cy>
<s>0</s>
</intrinsics>
</lens>
</xacro:unless>
</camera>
</sensor>
</gazebo>
</xacro:if>
</xacro:macro>

<xacro:macro name="basler_ace2_pro_link" params="name hfov_deg fisheye:=0 lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0">
<xacro:basler_ace_base name="${name}" hfov_deg="${hfov_deg}" frame_rate="9" resolution_x="1920" resolution_y="1200"
fisheye="${fisheye}" simulate="${simulate}" visualize="${visualize}"
camera_length="0.0555" origin_to_camera_front_dist="0.0524" camera_mass="${basler_ace2_pro_mass}"
camera_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae"
lens_length="${lens_length}" lens_back_focal_distance="${lens_back_focal_distance}"
lens_entrance_pupil_position="${lens_entrance_pupil_position}" lens_mass="${lens_mass}" lens_mesh="${lens_mesh}"
near_clip="${near_clip}"
/>
</xacro:macro>

<xacro:macro name="basler_ace_omnicam" params="name simulate:=1 visualize:=0">
<xacro:basler_ace2_pro_link name="${name}" hfov_deg="86.5" simulate="${simulate}" visualize="${visualize}"
lens_back_focal_distance="0.00809" lens_entrance_pupil_position="0.01066" lens_length="0.03974" lens_mass="${omnicam_lens_mass}"
lens_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae" />
</xacro:macro>
</root>
113 changes: 96 additions & 17 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
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Expand Up @@ -440,6 +440,9 @@
<xacro:if value="$(arg has_boson_thermocam)">
<xacro:include filename="$(find ctu_cras_norlab_absolem_sensor_config_1)/urdf/boson_thermocam.xacro" />
</xacro:if>
<xacro:if value="$(arg has_omnicam_vras)">
<xacro:include filename="$(find ctu_cras_norlab_absolem_sensor_config_1)/urdf/basler_cameras.xacro" />
</xacro:if>

<!-- NIFTI ROBOT LINKS AND JOINTS SPECIFICATION -->

Expand Down Expand Up @@ -718,6 +721,14 @@
filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/${top_box_mesh_name}"/>
</geometry>
</visual>
<xacro:if value="${'$(arg revision)' == '2021' and $(arg has_omnicam_vras)}">
<visual>
<origin rpy="0 ${3*pi/2} 0" xyz="-0.075 0.0 0.12" />
<geometry>
<mesh filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/reflector.dae" />
</geometry>
</visual>
</xacro:if>
<xacro:if value="${$(arg simplified_collision)==0}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
Expand Down Expand Up @@ -792,7 +803,37 @@
<!-- Origin of top box is 0.0635 m from the front side. And top_box_j_x is distance from robot's back to top box' front. -->
<xacro:fixed_joint name="top_box_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)top_box" xyz="${top_box_j_x-0.0635} ${$(arg rover_robotWidthBody)/2} 0.0" rpy="0 0 0"/>
<xacro:if value="$(arg has_omnicam_vras)">
<!-- -->
<link name="$(arg prefix)top_box_step">
<xacro:property name="top_box_step_width" value="0.12" />
<xacro:property name="top_box_step_height" value="0.1" />
<visual>
<origin rpy="0 0 0" xyz="0 0 ${top_box_step_height/2}"/>
<geometry>
<box size="0.1270 ${top_box_step_width} ${top_box_step_height}" />
</geometry>
<material name="body_color">
<color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
</material>
</visual>
<visual>
<origin rpy="0 $(arg ouster_rpy_p) 0" xyz="${$(arg ouster_pos_x) - 0.01} 0 ${$(arg ouster_pos_z) - 0.075}"/>
<geometry>
<cylinder radius="0.025" length="0.05" />
</geometry>
<material name="body_color">
<color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 ${top_box_step_height/2}"/>
<geometry>
<box size="0.1270 ${top_box_step_width} ${top_box_step_height}" />
</geometry>
</collision>
<xacro:box_inertial mass="1.0" width="${top_box_step_width}" height="${top_box_step_height}" depth="0.1270" xyz="0 0 ${top_box_step_height/2}" />
</link>
<xacro:fixed_joint name="top_box_step_j" parent="$(arg prefix)top_box" child="$(arg prefix)top_box_step" xyz="0 0 0.06252" />
<xacro:solid_color_link_material link="$(arg prefix)top_box_step" r="0" g="${94/255.0}" b="${184/255.0}" />
</xacro:if>
</xacro:if>
<xacro:unless value="${'$(arg revision)' == '2021'}">
Expand Down Expand Up @@ -852,7 +893,12 @@
</inertial>
</link>
<xacro:if value="${'$(arg revision)' == '2021'}">
<xacro:fixed_joint name="antenna_j" parent="$(arg prefix)base_link" child="$(arg prefix)antenna" xyz="${-$(arg rover_robotLengthBody)/2 + 0.12} 0.0789 0.1551" rpy="0 0 0" />
<xacro:if value="$(arg has_omnicam)">
<xacro:fixed_joint name="antenna_j" parent="$(arg prefix)base_link" child="$(arg prefix)antenna" xyz="${-$(arg rover_robotLengthBody)/2 + 0.12} 0.0789 0.1551" rpy="0 0 0" />
</xacro:if>
<xacro:if value="$(arg has_omnicam_vras)">
<xacro:fixed_joint name="antenna_j" parent="$(arg prefix)base_link" child="$(arg prefix)antenna" xyz="${-$(arg rover_robotLengthBody)/2 + 0.12} 0.1 0.1551" rpy="0 0 0" />
</xacro:if>
</xacro:if>
<xacro:unless value="${'$(arg revision)' == '2021'}">
<xacro:fixed_joint name="antenna_j" parent="$(arg prefix)base_link" child="$(arg prefix)antenna" xyz="-0.3720 0.0789 0.1551" rpy="0 0 0" />
Expand Down Expand Up @@ -1294,22 +1340,49 @@

</xacro:if>

<!-- Omnicamera -->
<xacro:if value="$(arg has_omnicam_vras)">
<xacro:basler_ace_omnicam name="camera_0" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
<xacro:fixed_joint name="camera_0_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)camera_0"
xyz="${$(arg rover_robotLengthBody) - 0.11} ${$(arg rover_robotWidthBody)/2} 0.01" lump="0" />
<link name="$(arg prefix)front_camera_holder"><visual><geometry><box size="0.04 0.025 0.01" /></geometry></visual></link>
<xacro:fixed_joint name="front_camera_holder_j" parent="$(arg prefix)camera_0" child="$(arg prefix)front_camera_holder" xyz="0.02 0 -0.005" />

<xacro:basler_ace_omnicam name="camera_1" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
<xacro:fixed_joint name="camera_1_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)camera_1"
xyz="${$(arg rover_robotLengthBody)/2-0.02} 0.083 0" rpy="0 0 ${-pi/2}" lump="0" />

<xacro:basler_ace_omnicam name="camera_2" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
<xacro:fixed_joint name="camera_2_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)camera_2"
xyz="0.05 ${$(arg rover_robotWidthBody)/2} 0" rpy="0 0 ${-pi}" lump="0" />

<xacro:basler_ace_omnicam name="camera_3" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
<xacro:fixed_joint name="camera_3_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)camera_3"
xyz="${$(arg rover_robotLengthBody)/2-0.02} ${$(arg rover_robotWidthBody) - 0.083} 0" rpy="0 0 ${-3*pi/2}" lump="0" />

<xacro:basler_ace_omnicam name="camera_4" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
<xacro:fixed_joint name="camera_4_j" parent="$(arg prefix)top_box" child="$(arg prefix)camera_4"
xyz="-0.048 -0.0145 ${0.06252 + top_box_step_height - 0.08}" rpy="${pi} ${-pi/2} ${pi/2}" lump="0" />
</xacro:if>

<!-- 3D lidar -->
<xacro:if value="$(arg has_ouster_lidar)">
<xacro:ouster_os0_128 name="laser" simulate="$(arg simulate_ouster_lidar)" visualize="$(arg visualize_sensors)" />
<xacro:calibrated_fixed_joint name="laser_j" parent="top_box" child="laser" prefix="ouster" lump="0"/>
<link name="$(arg prefix)ouster_holder">
<visual>
<origin xyz="0 0 0" />
<geometry>
<mesh filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/ouster_holder_ladybug.dae" />
</geometry>
</visual>
<xacro:cylinder_inertial mass="0.2" radius="0.07" length="0.02"
xyz="0 0 -0.01" />
</link>
<xacro:fixed_joint name="ouster_holder_j" parent="$(arg prefix)omnicam_top" child="$(arg prefix)ouster_holder"
xyz="0 0 0.005" rpy="0 0 ${radians(36)}" />
<xacro:if value="$(arg has_omnicam)">
<link name="$(arg prefix)ouster_holder">
<visual>
<origin xyz="0 0 0" />
<geometry>
<mesh filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/ouster_holder_ladybug.dae" />
</geometry>
</visual>
<xacro:cylinder_inertial mass="0.2" radius="0.07" length="0.02"
xyz="0 0 -0.01" />
</link>
<xacro:fixed_joint name="ouster_holder_j" parent="$(arg prefix)omnicam_top" child="$(arg prefix)ouster_holder"
xyz="0 0 0.005" rpy="0 0 ${radians(36)}" />
</xacro:if>
</xacro:if>

<!-- Thermal camera -->
Expand Down Expand Up @@ -1643,9 +1716,15 @@

<!-- Mote deployer -->
<xacro:if value="$(arg has_mote_deployer)">
<!-- The link is included automatically in the payload xacro -->
<xacro:fixed_joint name="mote_deployer_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)mote_deployer"
xyz="0.09 0.16 -0.01" rpy="0 0 ${pi}" />
<!-- The link is included automatically in the payload xacro -->
<xacro:if value="$(arg has_omnicam)">
<xacro:fixed_joint name="mote_deployer_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)mote_deployer"
xyz="0.09 0.16 -0.01" rpy="0 0 ${pi}" />
</xacro:if>
<xacro:if value="$(arg has_omnicam_vras)">
<xacro:fixed_joint name="mote_deployer_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)mote_deployer"
xyz="0.09 0.18 -0.01" rpy="0 0 ${pi}" />
</xacro:if>
</xacro:if>

<xacro:macro name="stiff_joint_tags">
Expand Down
16 changes: 16 additions & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro
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Expand Up @@ -66,4 +66,20 @@
</gazebo>
</xacro:if>
</xacro:macro>

<xacro:macro name="solid_color_link_material" params="link r g b">
<xacro:unless value="${'$(arg rendering_target)' == 'urdf'}">
<gazebo reference="${link}">
<visual>
<material>
<ambient>0 0 0 0</ambient>
<!-- Ignition Gazebo seems to use much brighter colors... -->
<diffuse>${max(0, r - 60/255.0)} ${max(0, g - 60/255.0)} ${max(0, b - 60/255.0)} 1</diffuse>
<specular>0 0 0 0</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</gazebo>
</xacro:unless>
</xacro:macro>
</root>