Updates to m100 model submission (#470)

* Remove .orig file

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Add support for efficient pose publisher

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Add optical frame publisher

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update spawner syntax

Signed-off-by: Michael Carroll <michael@openrobotics.org>

submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb

@@ -24,8 +24,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
       topScan=1
       bottomScan=1
       rgbdCam=1
-    <plugin name="ignition::launch::GazeboFactory"
-            filename="libignition-launch-gazebo-factory.so">
+    end
+    <spawn name="${_name}">
       <name>#{_name}</name>
       <allow_renaming>false</allow_renaming>
       <pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
@@ -43,6 +43,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
           <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>true</static_publisher>
+          <static_update_frequency>1</static_update_frequency>
         </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
@@ -194,8 +197,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         </plugin>
         </include>
       </sdf>
-    </plugin>
-    
+    </spawn>
+
   HEREDOC
 end
 

submitted_models/cerberus_m100_sensor_config_1/launch/vehicle_topics.launch

@@ -25,9 +25,17 @@
       pkg="ros_ign_bridge"
       type="parameter_bridge"
       name="ros_ign_bridge_pose"
-      args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
       <remap from="/model/$(arg name)/pose" to="pose"/>
     </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+
     <node
       pkg="ros_ign_bridge"
       type="parameter_bridge"
@@ -119,6 +127,16 @@
         args="$(arg sensor_prefix)/camera_front/image">
         <remap from="$(arg sensor_prefix)/camera_front/image" to="front/image_raw"/>
       </node>
+
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher">
+        <remap from="input/image" to="front/image_raw" />
+        <remap from="output/image" to="front/optical/image_raw" />
+        <remap from="input/camera_info" to="front/camera_info" />
+        <remap from="output/camera_info" to="front/optical/camera_info" />
+      </node>
     </group>
 
     <!-- laser scan -->