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Workspace with ZED for Simulation and Real Camera #25

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Workspace with ZED for Simulation and Real Camera #25

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d508895
Create zed_ws.
YuZhong-Chen Dec 30, 2023
85a3fb9
Clone zed-ros2-wrapper.
YuZhong-Chen Dec 30, 2023
0c2179c
Update Dockerfile base image to ZED.
YuZhong-Chen Dec 30, 2023
6f98159
Enable GPU access within the container.
YuZhong-Chen Jan 19, 2024
ac9d5c3
Clone zed-ros2-examples.
YuZhong-Chen Dec 30, 2023
bb504a6
Install ros2 humble in Dockerfile.
YuZhong-Chen Dec 30, 2023
da913ff
Clone zed gazebo settings.
YuZhong-Chen Jan 17, 2024
8beebb4
Remove the link in ZED urdf.
YuZhong-Chen Jan 17, 2024
65790cf
Add the tag `inertial` in ZED urdf.
YuZhong-Chen Jan 17, 2024
14b8901
Update the Dockerfile to include ZED dependencies.
YuZhong-Chen Jan 19, 2024
497d322
Change the ownership of the ZED folder.
YuZhong-Chen Jan 19, 2024
718acdd
Update compose.yaml to mount devices.
YuZhong-Chen Jan 19, 2024
4edff3f
Add the Gazebo plugin for ZED.
YuZhong-Chen Jan 19, 2024
7f8de9e
Integrate the launch settings for Gazebo.
YuZhong-Chen Jan 19, 2024
cbb77e3
Adjust the parameters in the Gazebo settings.
YuZhong-Chen Jan 19, 2024
f421584
Tweak the camera distortion parameters.
YuZhong-Chen Jan 19, 2024
3567e54
Update README.md
YuZhong-Chen Jan 19, 2024
1cf5737
Add Dockerfile for Isaac Sim.
YuZhong-Chen Feb 3, 2024
c64d89d
Add the Docker Compose settings for Isaac Sim.
YuZhong-Chen Feb 3, 2024
5bc3e85
Add gitkeep files for Isaac Sim cache.
YuZhong-Chen Feb 3, 2024
8a7b136
Install ROS2 Humble in Isaac Sim container.
YuZhong-Chen Feb 3, 2024
2a09afb
Install ZED SDK in Isaac Sim container.
YuZhong-Chen Feb 3, 2024
f47dc4c
Fix permissions and handle special cases in Dockerfile.
YuZhong-Chen Feb 3, 2024
df2e5d3
Clone zed-isaac-sim.
YuZhong-Chen Feb 3, 2024
66abdb4
Alter the ownership of the mounted folders.
YuZhong-Chen Feb 3, 2024
b6365ad
Fix permissions of the Isaac Sim.
YuZhong-Chen Feb 3, 2024
db1ec09
Add an example for Isaac Sim.
YuZhong-Chen Feb 3, 2024
7a446d6
Modify the ROS2 environment variables and provide additional comments…
YuZhong-Chen Feb 3, 2024
6c82dbd
Activate the Isaac Sim feature in zed-ros2-wrapper.
YuZhong-Chen Feb 3, 2024
b30e5cb
Update README.md
YuZhong-Chen Feb 3, 2024
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309 changes: 309 additions & 0 deletions zed_ws/src/zed-ros2-wrapper/zed_wrapper/urdf/zed_gazebo.urdf.xacro
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Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:property name="baseline" value="0.12"/>

<xacro:macro name="zed2"
params="link_prefix:=''
joint_prefix:=''">

<!-- Camera Center -->
<link name="${link_prefix}zed2_camera_center">
<inertial>
<mass value="0.16140"/>
<origin xyz="0 0 0"/>
<inertia
ixx="0.0003947" ixy="0.0" ixz="3.3365e-8"
iyy="2.417e-5" iyz="0.0"
izz="0.0003973"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://leo_erc_description/models/ZED2.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://leo_erc_description/models/ZED2.dae"/>
</geometry>
</collision>
</link>

<!-- Left Camera -->
<joint name="${joint_prefix}zed2_left_camera_joint" type="fixed">
<parent link="${link_prefix}zed2_camera_center"/>
<child link="${link_prefix}zed2_left_camera_frame"/>
<origin xyz="0 ${baseline/2} 0" rpy="0 0 0" />
</joint>

<link name="${link_prefix}zed2_left_camera_frame" />

<joint name="${joint_prefix}zed2_left_camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-${pi/2} 0.0 -${pi/2}"/>
<parent link="${link_prefix}zed2_left_camera_frame"/>
<child link="${link_prefix}zed2_left_camera_optical_frame"/>
</joint>

<link name="${link_prefix}zed2_left_camera_optical_frame"/>

<!-- Right Camera -->
<joint name="${joint_prefix}zed2_right_camera_joint" type="fixed">
<parent link="${link_prefix}zed2_camera_center"/>
<child link="${link_prefix}zed2_right_camera_frame"/>
<origin xyz="0 -${baseline/2} 0" rpy="0 0 0" />
</joint>

<link name="${link_prefix}zed2_right_camera_frame" />

<joint name="${joint_prefix}zed2_right_camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-${pi/2} 0.0 -${pi/2}"/>
<parent link="${link_prefix}zed2_right_camera_frame"/>
<child link="${link_prefix}zed2_right_camera_optical_frame"/>
</joint>

<link name="${link_prefix}zed2_right_camera_optical_frame"/>

<!-- Sensors -->
<joint name="${joint_prefix}zed2_mag_joint" type="fixed">
<parent link="${link_prefix}zed2_camera_center"/>
<child link="${link_prefix}zed2_mag_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>

<link name="${link_prefix}zed2_mag_link" />

<joint name="${joint_prefix}zed2_baro_joint" type="fixed">
<parent link="${link_prefix}zed2_camera_center"/>
<child link="${link_prefix}zed2_baro_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>

<link name="${link_prefix}zed2_baro_link" />

<joint name="${joint_prefix}zed2_temp_left_joint" type="fixed">
<parent link="${link_prefix}zed2_left_camera_frame"/>
<child link="${link_prefix}zed2_temp_left_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>

<link name="${link_prefix}zed2_temp_left_link" />

<joint name="${joint_prefix}zed2_temp_right_joint" type="fixed">
<parent link="${link_prefix}zed2_right_camera_frame"/>
<child link="${link_prefix}zed2_temp_right_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>

<link name="${link_prefix}zed2_temp_right_link" />

</xacro:macro>


<xacro:macro name="zed2_gazebo"
params="robot_ns:=''">

<xacro:property name="link_prefix" value=""/>
<xacro:if value="${robot_ns != '' and robot_ns != '/'}">
<xacro:property name="link_prefix" value="${robot_ns}/"/>
</xacro:if>

<!-- Left/Depth camera -->
<gazebo reference="${link_prefix}zed2_left_camera_frame">
<!-- Raw images (with lens distortion) -->
<sensor type="camera" name="zed2_left_raw_camera">
<always_on>true</always_on>
<update_rate>15.0</update_rate>
<visualize>false</visualize>
<camera name="zed2_left_raw">
<horizontal_fov>1.7633</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
<distortion>
<!-- Values copied from an actual ZED2 camera -->
<k1>-0.043693598</k1>
<k2>0.0146164996</k2>
<p1>-0.006573319</p1>
<p2>-0.000216900</p2>
<k3>0.000084328</k3>
<center>0.5 0.5</center>
</distortion>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<robotNamespace>${robot_ns}</robotNamespace>
<cameraName>zed2/left_raw</cameraName>
<imageTopicName>image_raw_color</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>zed2_left_camera_optical_frame</frameName>
<distortionK1>-0.043693598</distortionK1>
<distortionK2>0.0146164996</distortionK2>
<distortionT1>-0.006573319</distortionT1>
<distortionT2>-0.000216900</distortionT2>
<distortionK3>0.000084328</distortionK3>
<CxPrime>648.5</CxPrime>
<Cx>648.5</Cx>
<Cy>366.8340148925781</Cy>
<hackBaseline>0.0</hackBaseline>
</plugin>
</sensor>

<sensor type="depth" name="zed2_left_camera">
<!-- Rectified images, Depth images, Point Clouds -->
<always_on>true</always_on>
<update_rate>15.0</update_rate>
<visualize>false</visualize>
<camera name="zed2_left">
<horizontal_fov>1.7633</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<robotNamespace>${robot_ns}</robotNamespace>
<cameraName>zed2</cameraName>
<imageTopicName>left/image_rect_color</imageTopicName>
<cameraInfoTopicName>left/camera_info</cameraInfoTopicName>
<depthImageTopicName>depth/depth_registered</depthImageTopicName>
<depthImageInfoTopicName>depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>point_cloud/cloud_registered</pointCloudTopicName>
<pointCloudCutoff>0.3</pointCloudCutoff>
<pointCloudCutoffMax>20.0</pointCloudCutoffMax>
<frameName>zed2_left_camera_optical_frame</frameName>
<baseline>0.12</baseline>
<CxPrime>658.8206787109375</CxPrime>
<Cx>658.8206787109375</Cx>
<Cy>372.25787353515625</Cy>
<hackBaseline>0.0</hackBaseline>
</plugin>
</sensor>
</gazebo>

<!-- Right camera -->
<gazebo reference="${link_prefix}zed2_right_camera_frame">
<!-- Raw images (with lens distortion) -->
<sensor type="camera" name="zed2_right_raw_camera">
<always_on>true</always_on>
<update_rate>15.0</update_rate>
<visualize>false</visualize>
<camera name="zed2_right_raw">
<horizontal_fov>1.7633</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
<distortion>
<k1>-0.040993299</k1>
<k2>0.009593590</k2>
<p1>-0.004429849</p1>
<p2>0.000192024</p2>
<k3>-0.000320880</k3>
<center>0.5 0.5</center>
</distortion>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<robotNamespace>${robot_ns}</robotNamespace>
<cameraName>zed2/right_raw</cameraName>
<imageTopicName>image_raw_color</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>zed2_right_camera_optical_frame</frameName>
<distortionK1>-0.040993299</distortionK1>
<distortionK2>0.009593590</distortionK2>
<distortionT1>-0.004429849</distortionT1>
<distortionT2>0.000192024</distortionT2>
<distortionK3>-0.000320880</distortionK3>
<CxPrime>659.3049926757812</CxPrime>
<Cx>659.3049926757812</Cx>
<Cy>371.39849853515625</Cy>
<hackBaseline>0.12</hackBaseline>
</plugin>
</sensor>

<sensor type="camera" name="zed2_right_camera">
<!-- Rectified images -->
<always_on>true</always_on>
<update_rate>15.0</update_rate>
<visualize>false</visualize>
<camera name="zed2_right">
<horizontal_fov>1.7633</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<robotNamespace>${robot_ns}</robotNamespace>
<cameraName>zed2/right</cameraName>
<imageTopicName>image_rect_color</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>zed2_right_camera_optical_frame</frameName>
<CxPrime>658.8206787109375</CxPrime>
<Cx>658.8206787109375</Cx>
<Cy>372.25787353515625</Cy>
<hackBaseline>0.12</hackBaseline>
</plugin>
</sensor>
</gazebo>

<!-- IMU -->
<gazebo reference="${link_prefix}zed2_left_camera_frame">
<sensor type="imu" name="zed2_imu_sensor">
<update_rate>100</update_rate>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<robotNamespace>${robot_ns}</robotNamespace>
<topicName>zed2/imu/data</topicName>
<frameName>zed2_imu_link</frameName>
<updateRateHZ>100.0</updateRateHZ>
<gaussianNoise>0.01</gaussianNoise>
<initialOrientationAsReference>false</initialOrientationAsReference>
<!-- IMU frame offset copied from an actual ZED2 camera -->
<xyzOffset>-0.002 -0.023 -0.002</xyzOffset>
<rpyOffset>0.0014025 -0.0000012 -0.0016915</rpyOffset>
</plugin>
</sensor>
</gazebo>

</xacro:macro>

</robot>