Add simulation support for RGB and stereo cameras #78
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rae_description/urdf/rae.urdf.xacro
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| </plugin> | ||
| </gazebo> | ||
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| <link name="rae_stereo_front_frame"> |
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In real robot, stereo images' frames are set based on which sensor the stereo is aligned to (so it could be rgb, right,left, etc.), for now it is usually right` frame
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I fixed now the camera names. Now there are only right and left_back cameras as on real robot
rae_gazebo/launch/gazebo.launch.py
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| world_file = LaunchConfiguration('sdf_file').perform(context) | ||
| print(f'world_file: {world_file}') | ||
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| ns_srt = namespace.perform(context) | ||
| ns_srt = f'/{ns_srt}' if ns_srt else '' |
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I'd either put that in a function or add a small comment explaining the behavior
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This was my mistake. I accidentally committed this bit. It is removed now
rae_description/urdf/rae.urdf.xacro
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| <topic>/rae/right/image_raw</topic> | ||
| <ignition_frame_id>rae_rgb_camera_optical_frame</ignition_frame_id> | ||
| <camera> | ||
| <horizontal_fov>${105.0/180.0*pi}</horizontal_fov> |
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Sensor information can be found here
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I left |
This PR adds support for simulated cameras in Gazebo. Names of the topic are based on the launch files in the repo. This is why if possible please check if they are correct.