From d6c5e7ff2c04514e1b21354a40215e6ea0e5304f Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 11 Jul 2023 16:58:18 +0200
Subject: [PATCH] Topics prefixed with camera_name
---
config/realsense_d435_depth_sim_config.yaml | 17 +++++++++--------
launch/realsense_d435_depth_sim.launch | 2 +-
urdf/realsense.gazebo | 10 +++++-----
3 files changed, 15 insertions(+), 14 deletions(-)
diff --git a/config/realsense_d435_depth_sim_config.yaml b/config/realsense_d435_depth_sim_config.yaml
index 7611d09..f7e1483 100644
--- a/config/realsense_d435_depth_sim_config.yaml
+++ b/config/realsense_d435_depth_sim_config.yaml
@@ -1,18 +1,19 @@
-rate: 60.0
+rate: 10.0
horizontal_fov: 1.047
-image_width: 640
-image_height: 480
+image_width: 1280
+image_height: 720
image_format: 'R8G8B8'
clip_near: 0.2
clip_far: 100.0
noise_type: 'gaussian'
noise_mean: 0.0
noise_stddev: 0.007
-image_topic_name: '/camera/color/image_raw'
-camera_info_topic_name: '/camera/color/camera_info'
-depth_image_topic_name: '/camera/depth/image_rect_raw'
-point_cloud_topic_name: '/camera/depth_registered/points'
-depth_image_camera_info_topic_name: '/camera/depth/camera_info'
+#camera_name passed in xacro is added as prefix to the following topics
+image_topic_name: 'color/image_raw'
+camera_info_topic_name: 'color/camera_info'
+depth_image_topic_name: 'aligned_depth_to_color/image_raw'
+point_cloud_topic_name: 'aligned_depth_to_color/points'
+depth_image_camera_info_topic_name: 'aligned_depth_to_color/camera_info'
point_cloud_cut_off: 0.4
hack_baseline: 0.007
cx_prime: 0.0
diff --git a/launch/realsense_d435_depth_sim.launch b/launch/realsense_d435_depth_sim.launch
index 2db47c7..d0dbd63 100644
--- a/launch/realsense_d435_depth_sim.launch
+++ b/launch/realsense_d435_depth_sim.launch
@@ -21,7 +21,7 @@
</include>
<param name="robot_description"
- command="$(find xacro)/xacro --inorder '$(find iri_realsense_camera_description)/urdf/realsense_example.xacro' name:=$(arg node_name)" />
+ command="$(find xacro)/xacro --inorder '$(find iri_realsense_depth_description)/urdf/realsense_example.xacro' name:=$(arg node_name)" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="realsense_tf_broadcaster">
<param name="tf_prefix" type="string" value="$(arg node_name)"/>
diff --git a/urdf/realsense.gazebo b/urdf/realsense.gazebo
index b822728..471c443 100644
--- a/urdf/realsense.gazebo
+++ b/urdf/realsense.gazebo
@@ -33,11 +33,11 @@
<updateRate>${properties['rate']}</updateRate>
<cameraName>${name}</cameraName>
<frameName>${name}_color_optical_frame</frameName>
- <imageTopicName>${properties['image_topic_name']}</imageTopicName>
- <cameraInfoTopicName>${properties['camera_info_topic_name']}</cameraInfoTopicName>
- <depthImageTopicName>${properties['depth_image_topic_name']}</depthImageTopicName>
- <pointCloudTopicName>${properties['point_cloud_topic_name']}</pointCloudTopicName>
- <depthImageCameraInfoTopicName>${properties['depth_image_camera_info_topic_name']}</depthImageCameraInfoTopicName>
+ <imageTopicName>/${name}/${properties['image_topic_name']}</imageTopicName>
+ <cameraInfoTopicName>/${name}/${properties['camera_info_topic_name']}</cameraInfoTopicName>
+ <depthImageTopicName>/${name}/${properties['depth_image_topic_name']}</depthImageTopicName>
+ <pointCloudTopicName>/${name}/${properties['point_cloud_topic_name']}</pointCloudTopicName>
+ <depthImageCameraInfoTopicName>/${name}/${properties['depth_image_camera_info_topic_name']}</depthImageCameraInfoTopicName>
<pointCloudCutoff>${properties['point_cloud_cut_off']}</pointCloudCutoff>
<hackBaseline>${properties['hack_baseline']}</hackBaseline>
<CxPrime>${properties['cx_prime']}</CxPrime>
--
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