Custom sdf tag - Githubissues

Field-Robotics-Lab / nps_uw_multibeam_sonar

Multibeam sonar plugin with NVIDIA Cuda library

Apache License 2.0

35 stars 20 forks source link

Custom sdf tag #26

Closed woensug-choi closed 2 years ago

woensug-choi commented 2 years ago

Variational reflectivity using the custom SDF tags defined at model SDF

Inspired by recent update on the Dave repository to utilize the custom tag for degradation (https://github.com/Field-Robotics-Lab/dave/pull/164)
Reads custom tag defined at model SDF
Includes demo launch file with a normal metal Coke can, rubber material Coke can, and degraded metal Coke can
Based on the depth_camera, not ray
Built on top of https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar/pull/23

Example (from included launch file)

Launch command

roslaunch nps_uw_multibeam_sonar sonar_tank_oculus_m1200d_nps_multibeam_customSDFTag.launch

World
Constant reflectivity
Variational reflectivity with custom SDF tag

To-do

[x] documentation