diff --git a/controllers/unitree_guide_controller/src/UnitreeGuideController.cpp b/controllers/unitree_guide_controller/src/UnitreeGuideController.cpp index b328651..d04ad80 100644 --- a/controllers/unitree_guide_controller/src/UnitreeGuideController.cpp +++ b/controllers/unitree_guide_controller/src/UnitreeGuideController.cpp @@ -7,18 +7,25 @@ #include #include "unitree_guide_controller/robot/QuadrupedRobot.h" -namespace unitree_guide_controller { +namespace unitree_guide_controller +{ using config_type = controller_interface::interface_configuration_type; - controller_interface::InterfaceConfiguration UnitreeGuideController::command_interface_configuration() const { + controller_interface::InterfaceConfiguration UnitreeGuideController::command_interface_configuration() const + { controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}}; conf.names.reserve(joint_names_.size() * command_interface_types_.size()); - for (const auto &joint_name: joint_names_) { - for (const auto &interface_type: command_interface_types_) { - if (!command_prefix_.empty()) { + for (const auto& joint_name : joint_names_) + { + for (const auto& interface_type : command_interface_types_) + { + if (!command_prefix_.empty()) + { conf.names.push_back(command_prefix_ + "/" + joint_name + "/" += interface_type); - } else { + } + else + { conf.names.push_back(joint_name + "/" += interface_type); } } @@ -27,17 +34,21 @@ namespace unitree_guide_controller { return conf; } - controller_interface::InterfaceConfiguration UnitreeGuideController::state_interface_configuration() const { + controller_interface::InterfaceConfiguration UnitreeGuideController::state_interface_configuration() const + { controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}}; conf.names.reserve(joint_names_.size() * state_interface_types_.size()); - for (const auto &joint_name: joint_names_) { - for (const auto &interface_type: state_interface_types_) { + for (const auto& joint_name : joint_names_) + { + for (const auto& interface_type : state_interface_types_) + { conf.names.push_back(joint_name + "/" += interface_type); } } - for (const auto &interface_type: imu_interface_types_) { + for (const auto& interface_type : imu_interface_types_) + { conf.names.push_back(imu_name_ + "/" += interface_type); } @@ -45,7 +56,8 @@ namespace unitree_guide_controller { } controller_interface::return_type UnitreeGuideController:: - update(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) { + update(const rclcpp::Time& time, const rclcpp::Duration& period) + { // auto now = std::chrono::steady_clock::now(); // std::chrono::duration time_diff = now - last_update_time_; // last_update_time_ = now; @@ -54,7 +66,8 @@ namespace unitree_guide_controller { // update_frequency_ = 1.0 / time_diff.count(); // RCLCPP_INFO(get_node()->get_logger(), "Update frequency: %f Hz", update_frequency_); - if (ctrl_component_.robot_model_ == nullptr) { + if (ctrl_component_.robot_model_ == nullptr) + { return controller_interface::return_type::OK; } @@ -62,16 +75,20 @@ namespace unitree_guide_controller { ctrl_component_.wave_generator_->update(); ctrl_component_.estimator_->update(); - if (mode_ == FSMMode::NORMAL) { - current_state_->run(); + if (mode_ == FSMMode::NORMAL) + { + current_state_->run(time, period); next_state_name_ = current_state_->checkChange(); - if (next_state_name_ != current_state_->state_name) { + if (next_state_name_ != current_state_->state_name) + { mode_ = FSMMode::CHANGE; next_state_ = getNextState(next_state_name_); RCLCPP_INFO(get_node()->get_logger(), "Switched from %s to %s", current_state_->state_name_string.c_str(), next_state_->state_name_string.c_str()); } - } else if (mode_ == FSMMode::CHANGE) { + } + else if (mode_ == FSMMode::CHANGE) + { current_state_->exit(); current_state_ = next_state_; @@ -82,25 +99,27 @@ namespace unitree_guide_controller { return controller_interface::return_type::OK; } - controller_interface::CallbackReturn UnitreeGuideController::on_init() { - try { - joint_names_ = auto_declare >("joints", joint_names_); + controller_interface::CallbackReturn UnitreeGuideController::on_init() + { + try + { + joint_names_ = auto_declare>("joints", joint_names_); command_interface_types_ = - auto_declare >("command_interfaces", command_interface_types_); + auto_declare>("command_interfaces", command_interface_types_); state_interface_types_ = - auto_declare >("state_interfaces", state_interface_types_); + auto_declare>("state_interfaces", state_interface_types_); // imu sensor imu_name_ = auto_declare("imu_name", imu_name_); base_name_ = auto_declare("base_name", base_name_); - imu_interface_types_ = auto_declare >("imu_interfaces", state_interface_types_); + imu_interface_types_ = auto_declare>("imu_interfaces", state_interface_types_); command_prefix_ = auto_declare("command_prefix", command_prefix_); feet_names_ = - auto_declare >("feet_names", feet_names_); + auto_declare>("feet_names", feet_names_); // pose parameters - down_pos_ = auto_declare >("down_pos", down_pos_); - stand_pos_ = auto_declare >("stand_pos", stand_pos_); + down_pos_ = auto_declare>("down_pos", down_pos_); + stand_pos_ = auto_declare>("stand_pos", stand_pos_); stand_kp_ = auto_declare("stand_kp", stand_kp_); stand_kd_ = auto_declare("stand_kd", stand_kd_); @@ -108,7 +127,9 @@ namespace unitree_guide_controller { RCLCPP_INFO(get_node()->get_logger(), "Controller Manager Update Rate: %d Hz", ctrl_interfaces_.frequency_); ctrl_component_.estimator_ = std::make_shared(ctrl_interfaces_, ctrl_component_); - } catch (const std::exception &e) { + } + catch (const std::exception& e) + { fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what()); return controller_interface::CallbackReturn::ERROR; } @@ -117,9 +138,11 @@ namespace unitree_guide_controller { } controller_interface::CallbackReturn UnitreeGuideController::on_configure( - const rclcpp_lifecycle::State & /*previous_state*/) { + const rclcpp_lifecycle::State& /*previous_state*/) + { control_input_subscription_ = get_node()->create_subscription( - "/control_input", 10, [this](const control_input_msgs::msg::Inputs::SharedPtr msg) { + "/control_input", 10, [this](const control_input_msgs::msg::Inputs::SharedPtr msg) + { // Handle message ctrl_interfaces_.control_inputs_.command = msg->command; ctrl_interfaces_.control_inputs_.lx = msg->lx; @@ -130,7 +153,8 @@ namespace unitree_guide_controller { robot_description_subscription_ = get_node()->create_subscription( "/robot_description", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local(), - [this](const std_msgs::msg::String::SharedPtr msg) { + [this](const std_msgs::msg::String::SharedPtr msg) + { ctrl_component_.robot_model_ = std::make_shared( ctrl_interfaces_, msg->data, feet_names_, base_name_); ctrl_component_.balance_ctrl_ = std::make_shared(ctrl_component_.robot_model_); @@ -142,25 +166,34 @@ namespace unitree_guide_controller { } controller_interface::CallbackReturn - UnitreeGuideController::on_activate(const rclcpp_lifecycle::State & /*previous_state*/) { + UnitreeGuideController::on_activate(const rclcpp_lifecycle::State& /*previous_state*/) + { // clear out vectors in case of restart ctrl_interfaces_.clear(); // assign command interfaces - for (auto &interface: command_interfaces_) { + for (auto& interface : command_interfaces_) + { std::string interface_name = interface.get_interface_name(); - if (const size_t pos = interface_name.find('/'); pos != std::string::npos) { + if (const size_t pos = interface_name.find('/'); pos != std::string::npos) + { command_interface_map_[interface_name.substr(pos + 1)]->push_back(interface); - } else { + } + else + { command_interface_map_[interface_name]->push_back(interface); } } // assign state interfaces - for (auto &interface: state_interfaces_) { - if (interface.get_prefix_name() == imu_name_) { + for (auto& interface : state_interfaces_) + { + if (interface.get_prefix_name() == imu_name_) + { ctrl_interfaces_.imu_state_interface_.emplace_back(interface); - } else { + } + else + { state_interface_map_[interface.get_interface_name()]->push_back(interface); } } @@ -185,46 +218,52 @@ namespace unitree_guide_controller { } controller_interface::CallbackReturn UnitreeGuideController::on_deactivate( - const rclcpp_lifecycle::State & /*previous_state*/) { + const rclcpp_lifecycle::State& /*previous_state*/) + { release_interfaces(); return CallbackReturn::SUCCESS; } controller_interface::CallbackReturn - UnitreeGuideController::on_cleanup(const rclcpp_lifecycle::State & /*previous_state*/) { + UnitreeGuideController::on_cleanup(const rclcpp_lifecycle::State& /*previous_state*/) + { return CallbackReturn::SUCCESS; } controller_interface::CallbackReturn - UnitreeGuideController::on_error(const rclcpp_lifecycle::State & /*previous_state*/) { + UnitreeGuideController::on_error(const rclcpp_lifecycle::State& /*previous_state*/) + { return CallbackReturn::SUCCESS; } controller_interface::CallbackReturn - UnitreeGuideController::on_shutdown(const rclcpp_lifecycle::State & /*previous_state*/) { + UnitreeGuideController::on_shutdown(const rclcpp_lifecycle::State& /*previous_state*/) + { return CallbackReturn::SUCCESS; } - std::shared_ptr UnitreeGuideController::getNextState(const FSMStateName stateName) const { - switch (stateName) { - case FSMStateName::INVALID: - return state_list_.invalid; - case FSMStateName::PASSIVE: - return state_list_.passive; - case FSMStateName::FIXEDDOWN: - return state_list_.fixedDown; - case FSMStateName::FIXEDSTAND: - return state_list_.fixedStand; - case FSMStateName::FREESTAND: - return state_list_.freeStand; - case FSMStateName::TROTTING: - return state_list_.trotting; - case FSMStateName::SWINGTEST: - return state_list_.swingTest; - case FSMStateName::BALANCETEST: - return state_list_.balanceTest; - default: - return state_list_.invalid; + std::shared_ptr UnitreeGuideController::getNextState(const FSMStateName stateName) const + { + switch (stateName) + { + case FSMStateName::INVALID: + return state_list_.invalid; + case FSMStateName::PASSIVE: + return state_list_.passive; + case FSMStateName::FIXEDDOWN: + return state_list_.fixedDown; + case FSMStateName::FIXEDSTAND: + return state_list_.fixedStand; + case FSMStateName::FREESTAND: + return state_list_.freeStand; + case FSMStateName::TROTTING: + return state_list_.trotting; + case FSMStateName::SWINGTEST: + return state_list_.swingTest; + case FSMStateName::BALANCETEST: + return state_list_.balanceTest; + default: + return state_list_.invalid; } } } diff --git a/descriptions/unitree/go2_description/xacro/gazebo.xacro b/descriptions/unitree/go2_description/xacro/gazebo.xacro index 645acf2..8980b0a 100644 --- a/descriptions/unitree/go2_description/xacro/gazebo.xacro +++ b/descriptions/unitree/go2_description/xacro/gazebo.xacro @@ -261,6 +261,12 @@ + + + + + + @@ -316,7 +322,7 @@ 0.01 - 1 + true true diff --git a/descriptions/unitree/go2_description/xacro/robot.xacro b/descriptions/unitree/go2_description/xacro/robot.xacro index 90ffa02..c645189 100755 --- a/descriptions/unitree/go2_description/xacro/robot.xacro +++ b/descriptions/unitree/go2_description/xacro/robot.xacro @@ -122,7 +122,7 @@ - + diff --git a/hardwares/gz_quadruped_hardware/xacro/foot_force_sensor.xacro b/hardwares/gz_quadruped_hardware/xacro/foot_force_sensor.xacro index 24676c8..e179369 100644 --- a/hardwares/gz_quadruped_hardware/xacro/foot_force_sensor.xacro +++ b/hardwares/gz_quadruped_hardware/xacro/foot_force_sensor.xacro @@ -4,7 +4,7 @@ - true + true true diff --git a/libraries/gz_quadruped_playground/CMakeLists.txt b/libraries/gz_quadruped_playground/CMakeLists.txt index af2272e..c411add 100644 --- a/libraries/gz_quadruped_playground/CMakeLists.txt +++ b/libraries/gz_quadruped_playground/CMakeLists.txt @@ -4,7 +4,7 @@ project(gz_quadruped_playground) find_package(ament_cmake REQUIRED) install( - DIRECTORY worlds launch config + DIRECTORY worlds launch config models DESTINATION share/${PROJECT_NAME}/ ) diff --git a/libraries/gz_quadruped_playground/README.md b/libraries/gz_quadruped_playground/README.md index 28ee699..a5390a7 100644 --- a/libraries/gz_quadruped_playground/README.md +++ b/libraries/gz_quadruped_playground/README.md @@ -36,4 +36,5 @@ colcon build --packages-up-to gz_quadruped_playground --symlink-install ## Related Materials -* [Gazebo OdometryPublisher Plugin](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1OdometryPublisher.html#details) \ No newline at end of file +* [Gazebo OdometryPublisher Plugin](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1OdometryPublisher.html#details) +* [Gazebo Intel Realsense D435 RGBD camera](https://app.gazebosim.org/OpenRobotics/fuel/models/Intel%20RealSense%20D435) \ No newline at end of file diff --git a/libraries/gz_quadruped_playground/launch/gazebo.launch.py b/libraries/gz_quadruped_playground/launch/gazebo.launch.py index 485cab9..cb31a09 100644 --- a/libraries/gz_quadruped_playground/launch/gazebo.launch.py +++ b/libraries/gz_quadruped_playground/launch/gazebo.launch.py @@ -122,6 +122,7 @@ def generate_launch_description(): "/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", "/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan", "/scan/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked", + "/rgbd_d435/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked" # "/odom@nav_msgs/msg/Odometry@gz.msgs.Odometry", # "/odom_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance", # "/tf@tf2_msgs/msg/TFMessage@gz.msgs.Pose_V" @@ -137,6 +138,8 @@ def generate_launch_description(): executable="image_bridge", arguments=[ "/camera/image", + '/rgbd_d435/depth_image', + '/rgbd_d435/image', ], output="screen", parameters=[ diff --git a/libraries/gz_quadruped_playground/models/D435/materials/scripts/model.material b/libraries/gz_quadruped_playground/models/D435/materials/scripts/model.material new file mode 100644 index 0000000..b479fe7 --- /dev/null +++ b/libraries/gz_quadruped_playground/models/D435/materials/scripts/model.material @@ -0,0 +1,14 @@ + +material UrbanTile/RealSense_Diffuse +{ + technique + { + pass + { + texture_unit + { + texture RealSense_Albedo.png + } + } + } + } \ No newline at end of file diff --git a/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Albedo.png b/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Albedo.png new file mode 100644 index 0000000..61dcb84 Binary files /dev/null and b/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Albedo.png differ diff --git a/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Metalness.png b/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Metalness.png new file mode 100644 index 0000000..d194d28 Binary files /dev/null and b/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Metalness.png differ diff --git a/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Normal.png b/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Normal.png new file mode 100644 index 0000000..6c646f1 Binary files /dev/null and b/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Normal.png differ diff --git a/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Roughness.png b/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Roughness.png new file mode 100644 index 0000000..d82ecf0 Binary files /dev/null and b/libraries/gz_quadruped_playground/models/D435/materials/textures/RealSense_Roughness.png differ diff --git a/libraries/gz_quadruped_playground/models/D435/meshes/realsense.dae b/libraries/gz_quadruped_playground/models/D435/meshes/realsense.dae new file mode 100644 index 0000000..416ebb5 --- /dev/null +++ b/libraries/gz_quadruped_playground/models/D435/meshes/realsense.dae @@ -0,0 +1,1750 @@ + + + + + + FBX COLLADA exporter + + + 2020-07-13T22:31:05Z + + 2020-07-13T22:31:05Z + + + + <unit meter="0.010000" name="centimeter"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_images> + <image id="MapFBXASC032FBXASC0352-image" name="MapFBXASC032FBXASC0352"> + <init_from>../materials/textures/RealSense_Albedo.png</init_from> + </image> + </library_images> + <library_materials> + <material id="RealSense_ncl1_1" name="RealSense_ncl1_1"> + <instance_effect url="#RealSense_ncl1_1-fx"/> + </material> + </library_materials> + <library_effects> + <effect id="RealSense_ncl1_1-fx" name="RealSense_ncl1_1"> + <profile_COMMON> + <technique sid="standard"> + <phong> + <emission> + <color sid="emission">0.000000 0.000000 0.000000 1.000000</color> + </emission> + <ambient> + <color sid="ambient">0.588235 0.588235 0.588235 1.000000</color> + </ambient> + 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100 1128 80 164 1129 76 99 1130 75 157 1131 73 158 1132 143 133 1133 139 157 1134 73 133 1135 139 156 1136 79 32 1137 33 92 1138 78 93 1139 68</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="realsense" name="realsense"> + <node name="RealSense" id="RealSense" sid="RealSense"> + <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -1.000000 0.000000 0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#RealSense-lib"> + <bind_material> + <technique_common> + <instance_material symbol="RealSense_ncl1_1" target="#RealSense_ncl1_1"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#realsense"/> + </scene> +</COLLADA> diff --git a/libraries/gz_quadruped_playground/models/D435/model.config b/libraries/gz_quadruped_playground/models/D435/model.config new file mode 100644 index 0000000..e2ddcf4 --- /dev/null +++ b/libraries/gz_quadruped_playground/models/D435/model.config @@ -0,0 +1,16 @@ +<?xml version='1.0'?> +<model> + <name>Intel RealSense D435</name> + <version>1.0</version> + <sdf version='1.6'>model.sdf</sdf> + + <author> + <name>Cole Biesemeyer</name> + <email>cole@openrobotics.org</email> + </author> + + <description> + Intel RealSense D435. + </description> +</model> + diff --git a/libraries/gz_quadruped_playground/models/D435/model.sdf b/libraries/gz_quadruped_playground/models/D435/model.sdf new file mode 100644 index 0000000..eee5932 --- /dev/null +++ b/libraries/gz_quadruped_playground/models/D435/model.sdf @@ -0,0 +1,103 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="realsense_d435"> + <link name="link"> + <inertial> + <mass>0.0615752</mass> + <inertia> + <ixx>9.108e-05</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>2.51e-06</iyy> + <iyz>0</iyz> + <izz>8.931e-05</izz> + </inertia> + <pose frame=''>0 0 0 0 -0 0</pose> + </inertial> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://RealSense_D435/meshes/realsense.dae</uri> + </mesh> + </geometry> + </collision> + <visual name= "visual"> + <geometry> + <mesh> + <uri>model://RealSense_D435/meshes/realsense.dae</uri> + <submesh> + <name>RealSense</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>model://RealSense_D435/materials/textures/RealSense_Albedo.png</albedo_map> + <normal_map>model://RealSense_D435/materials/textures/RealSense_Normal.png</normal_map> + <metalness_map>model://RealSense_D435/materials/textures/RealSense_Metalness.png</metalness_map> + <roughness_map>model://RealSense_D435/materials/textures/RealSense_Roughness.png</roughness_map> + </metal> + </pbr> + <!-- fallback to script if no PBR support--> + <script> + <uri>model://RealSense_D435/materials/scripts/</uri> + <uri>model://RealSense_D435/materials/textures/</uri> + <name>UrbanTile/RealSense_Diffuse</name> + </script> + </material> + </visual> + + <sensor name="realsense_d435" type="rgbd_camera"> + <update_rate>60</update_rate> + <camera name="camera"> + <horizontal_fov>1.0472</horizontal_fov> + <lens> + <intrinsics> + <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) --> + <fx>554.25469</fx> + <fy>554.25469</fy> + <!-- cx = ( width + 1 ) / 2 --> + <cx>320.5</cx> + <!-- cy = ( height + 1 ) / 2 --> + <cy>240.5</cy> + <s>0</s> + </intrinsics> + </lens> + <distortion> + <k1>0.0</k1> + <k2>0.0</k2> + <k3>0.0</k3> + <p1>0.0</p1> + <p2>0.0</p2> + <center>0.5 0.5</center> + </distortion> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.01</near> + <far>300</far> + </clip> + <depth_camera> + <clip> + <near>0.1</near> + <far>10</far> + </clip> + </depth_camera> + <noise> + <type>gaussian</type> + <mean>0</mean> + <stddev>0.007</stddev> + </noise> + </camera> + </sensor> + + </link> + </model> +</sdf> diff --git a/libraries/gz_quadruped_playground/models/D435/model.xacro b/libraries/gz_quadruped_playground/models/D435/model.xacro new file mode 100644 index 0000000..1074711 --- /dev/null +++ b/libraries/gz_quadruped_playground/models/D435/model.xacro @@ -0,0 +1,90 @@ +<?xml version="1.0"?> + +<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> + <xacro:macro name="d435" params="camID name *origin"> + <joint name="camera_joint_${name}" type="fixed"> + <xacro:insert_block name="origin"/> + <parent link="trunk"/> + <child link="camera_${name}"/> + </joint> + + <link name="camera_${name}"> + <collision> + <origin xyz="0 0 0" rpy="0 0 0"/> + <geometry> + <box size=".001 .001 .001"/> + </geometry> + </collision> + <inertial> + <mass value="0.0615752"/> + <inertia ixx="9.108e-05" ixy="0" ixz="0" iyy="2.51e-06" iyz="0" izz="8.931e-05"/> + <origin xyz="0 0 0" rpy="0 0 0"/> + </inertial> + + <visual> + <origin xyz="0 0 0" rpy="0 0 1.57"/> + <geometry> + <mesh filename="file://$(find gz_quadruped_playground)/models/D435/meshes/realsense.dae" scale="1 1 1"/> + </geometry> + </visual> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + </material> + </link> + + <gazebo reference="camera_${name}"> + <sensor name="realsense_d435" type="rgbd_camera"> + <camera name="d435"> + <horizontal_fov>1.0472</horizontal_fov> + <lens> + <intrinsics> + <fx>554.25469</fx> + <fy>554.25469</fy> + <cx>320.5</cx> + <cy>240.5</cy> + <s>0</s> + </intrinsics> + </lens> + <distortion> + <k1>0.0</k1> + <k2>0.0</k2> + <k3>0.0</k3> + <p1>0.0</p1> + <p2>0.0</p2> + <center>0.5 0.5</center> + </distortion> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.01</near> + <far>300</far> + </clip> + <depth_camera> + <clip> + <near>0.1</near> + <far>10</far> + </clip> + </depth_camera> + <noise> + <type>gaussian</type> + <mean>0</mean> + <stddev>0.007</stddev> + </noise> + <optical_frame_id>camera_${name}</optical_frame_id> + </camera> + <always_on>true</always_on> + <update_rate>15</update_rate> + <visualize>true</visualize> + <topic>rgbd_${name}</topic> + <plugin + filename="RosGzPointCloud" + name="ros_gz_point_cloud::PointCloud"> + </plugin> + </sensor> + </gazebo> + </xacro:macro> +</robot> \ No newline at end of file diff --git a/libraries/gz_quadruped_playground/models/D435/thumbnails/1.png b/libraries/gz_quadruped_playground/models/D435/thumbnails/1.png new file mode 100644 index 0000000..8447a0b Binary files /dev/null and b/libraries/gz_quadruped_playground/models/D435/thumbnails/1.png differ diff --git a/libraries/gz_quadruped_playground/models/D435/thumbnails/2.png b/libraries/gz_quadruped_playground/models/D435/thumbnails/2.png new file mode 100644 index 0000000..7116e79 Binary files /dev/null and b/libraries/gz_quadruped_playground/models/D435/thumbnails/2.png differ diff --git a/libraries/gz_quadruped_playground/models/D435/thumbnails/3.png b/libraries/gz_quadruped_playground/models/D435/thumbnails/3.png new file mode 100644 index 0000000..8ac3586 Binary files /dev/null and b/libraries/gz_quadruped_playground/models/D435/thumbnails/3.png differ diff --git a/libraries/gz_quadruped_playground/models/D435/thumbnails/4.png b/libraries/gz_quadruped_playground/models/D435/thumbnails/4.png new file mode 100644 index 0000000..75c2123 Binary files /dev/null and b/libraries/gz_quadruped_playground/models/D435/thumbnails/4.png differ