search

osrf / vorc

Virtual Ocean Robot Challenge (VORC) resources
Apache License 2.0
38 stars 11 forks source link

Adding sensors to CoRa #2

Closed caguero closed 4 years ago

caguero commented 4 years ago

Preliminary sensor integration. The sensor suite contains:

I also included an rviz config file and launch file.

vorc_sensors

How to visualize in rviz:

roslaunch vorc_gazebo marina.launch
roslaunch vorc_gazebo localization_example.launch
roslaunch vorc_gazebo rviz.launch

Note: The sensor location is preliminary, we can tweak it later.

mabelzhang commented 4 years ago

In the target branch, I did a slight refactoring of cora.urdf.xacro into cora.xacro in order to keep the inertial parameters in the repo for both v1 (requested) and v2 meshes. Could we move the sensor tags here into cora.xacro instead?

caguero commented 4 years ago

In the target branch, I did a slight refactoring of cora.urdf.xacro into cora.xacro in order to keep the inertial parameters in the repo for both v1 (requested) and v2 meshes. Could we move the sensor tags here into cora.xacro instead?

Sure, moved in 0cab6d2.

mabelzhang commented 4 years ago

It could be a difference between colcon and catkin. I needed an additional install block in CMakeLists.txt for the rviz configuration to automatically load for me:

+# Install all the config files
+install(DIRECTORY config/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)

~The point cloud is not being published for me. Is there some additional package I need to install?~ (Never mind, I just had to install ros-melodic-velodyne-simulator and ros-melodic-hector-gazebo-plugins. It's already in the VORC installation instructions, but I haven't created a Docker image using it... I probably should at some point - next week.)

Otherwise all the sensors are publishing for me. I can see the LIDAR and images in RViz.

caguero commented 4 years ago

It could be a difference between colcon and catkin. I needed an additional install block in CMakeLists.txt for the rviz configuration to automatically load for me:

+# Install all the config files
+install(DIRECTORY config/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)

~The point cloud is not being published for me. Is there some additional package I need to install?~ (Never mind, I just had to install ros-melodic-velodyne-simulator and ros-melodic-hector-gazebo-plugins. It's already in the VORC installation instructions, but I haven't created a Docker image using it... I probably should at some point - next week.)

Otherwise all the sensors are publishing for me. I can see the LIDAR and images in RViz.

Added in 8a15a63. This is good. It probably works for me because I'm not running catkin make install, just catkin make.

mabelzhang commented 4 years ago

Feel free to merge