Merge pull request #21 from osrf/lidar

Point clouds from lidars
gazebosim · Jun 28, 2019 · 07b001e · 07b001e
2 parents 4b07992 + 7feb0b4
commit 07b001e
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Showing 13 changed files with 1,002 additions and 63 deletions.
diff --git a/ros1_ign_gazebo_demos/README.md b/ros1_ign_gazebo_demos/README.md
@@ -44,15 +44,15 @@ Then send a command
 
 ## Depth camera
 
-Publishes depth camera image.
+Publishes depth camera images and point clouds.
 
     roslaunch ros1_ign_gazebo_demos depth_camera.launch
 
 ![](images/depth_camera_demo.png)
 
 ## GPU lidar
 
-Publishes 2D laser scans.
+Publishes 2D laser scans and point clouds.
 
     roslaunch ros1_ign_gazebo_demos gpu_lidar.launch
 

diff --git a/ros1_ign_gazebo_demos/images/depth_camera_demo.png b/ros1_ign_gazebo_demos/images/depth_camera_demo.png
diff --git a/ros1_ign_gazebo_demos/images/gpu_lidar_demo.png b/ros1_ign_gazebo_demos/images/gpu_lidar_demo.png
diff --git a/ros1_ign_gazebo_demos/launch/depth_camera.launch b/ros1_ign_gazebo_demos/launch/depth_camera.launch
@@ -2,7 +2,7 @@
 <launch>
 
   <include file="$(find ros1_ign_gazebo_demos)/launch/ign_gazebo.launch">
-    <arg name="args" value="-r -v 3 depth_camera_sensor.sdf"/>
+    <arg name="args" value="-r -v 3 $(find ros1_ign_point_cloud)/examples/depth_camera.sdf"/>
   </include>
 
   <node
@@ -19,4 +19,10 @@
     name="rqt_image_view"
     args="/depth_camera">
   </node>
+
+  <node
+    type="rviz"
+    name="rviz"
+    pkg="rviz"
+    args="-d $(find ros1_ign_gazebo_demos)/rviz/depth_camera.rviz" />
 </launch>
diff --git a/ros1_ign_gazebo_demos/launch/gpu_lidar.launch b/ros1_ign_gazebo_demos/launch/gpu_lidar.launch
@@ -2,7 +2,7 @@
 <launch>
 
   <include file="$(find ros1_ign_gazebo_demos)/launch/ign_gazebo.launch">
-    <arg name="args" value="-r -v 3 gpu_lidar_sensor.sdf"/>
+    <arg name="args" value="-r -v 3 $(find ros1_ign_point_cloud)/examples/gpu_lidar.sdf"/>
   </include>
 
   <node

diff --git a/ros1_ign_gazebo_demos/launch/rgbd_camera.launch b/ros1_ign_gazebo_demos/launch/rgbd_camera.launch
@@ -2,7 +2,7 @@
 <launch>
 
   <include file="$(find ros1_ign_gazebo_demos)/launch/ign_gazebo.launch">
-    <arg name="args" value="-r -v 3 $(find ros1_ign_point_cloud)/examples/ros1_ign_point_cloud.sdf"/>
+    <arg name="args" value="-r -v 3 $(find ros1_ign_point_cloud)/examples/rgbd_camera.sdf"/>
   </include>
 
   <node

diff --git a/ros1_ign_gazebo_demos/rviz/depth_camera.rviz b/ros1_ign_gazebo_demos/rviz/depth_camera.rviz
@@ -0,0 +1,147 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Image1
+        - /PointCloud21
+      Splitter Ratio: 0.5
+    Tree Height: 423
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /depth_camera
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.019999999552965164
+      Style: Flat Squares
+      Topic: /depth_camera/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 6.307931423187256
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.024829570204019547
+        Y: -0.440496027469635
+        Z: 1.0747597217559814
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: -1.3397971391677856
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.723598957061768
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 568
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000001e2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001e2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000272000000c1000000000000000000000001000001b8000001e2fc0200000006fb0000000a0049006d006100670065010000003b000001e20000001600fffffffb0000000c00430061006d00650072006100000001ae000001850000000000000000fb0000000c00430061006d00650072006101000001ba000001790000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b000000052fc0100000002fb0000000800540069006d006502000001a70000029a000004b000000052fb0000000800540069006d0065010000000000000450000000000000000000000196000001e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 405
+  Y: 378
diff --git a/ros1_ign_gazebo_demos/rviz/gpu_lidar.rviz b/ros1_ign_gazebo_demos/rviz/gpu_lidar.rviz
@@ -1,13 +1,14 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 78
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
         - /LaserScan1
+        - /PointCloud21
       Splitter Ratio: 0.5
-    Tree Height: 288
+    Tree Height: 366
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -82,11 +83,41 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Flat Squares
+      Topic: /custom_params/pc2
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: model_with_lidar/link
+    Fixed Frame: custom_params/link
     Frame Rate: 30
   Name: root
   Tools:
@@ -110,25 +141,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 13.194476127624512
+      Distance: 10.596034049987793
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.7377599477767944
-        Y: -0.8083325624465942
-        Z: 0.38970595598220825
+        X: 1.855783224105835
+        Y: -0.6233639717102051
+        Z: 0.7489486932754517
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6902022361755371
+      Pitch: 0.5402030348777771
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.6185994148254395
+      Yaw: 3.7535903453826904
     Saved: ~
 Window Geometry:
   Displays:
@@ -146,5 +177,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 701
-  X: 492
-  Y: 396
+  X: 352
+  Y: 269