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osrf / vrx

Virtual RobotX (VRX) resources.
Apache License 2.0
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Update camera clip #728

Closed caguero closed 10 months ago

caguero commented 10 months ago

As @M1chaelM reported, the treeline might look inconsistent from the cameras.

image

Increasing the clipping fixes this issue:

https://private-user-images.githubusercontent.com/1440739/262057592-e62bbc8e-3015-42c0-941d-112784203f1b.webm?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTEiLCJleHAiOjE2OTI3NDIxNjYsIm5iZiI6MTY5Mjc0MTg2NiwicGF0aCI6Ii8xNDQwNzM5LzI2MjA1NzU5Mi1lNjJiYmM4ZS0zMDE1LTQyYzAtOTQxZC0xMTI3ODQyMDNmMWIud2VibT9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFJV05KWUFYNENTVkVINTNBJTJGMjAyMzA4MjIlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjMwODIyVDIyMDQyNlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWQzYTE2NjkxMjc4YTgzOTM3YWFkNzA3NjJiNDc2NmUzYTViNzdiYjUyZjMwY2FmMTFiMGU2MTFhNGY1ODBlNGImWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.0rCkr-TafcenJqiZ_KGFGYjbSosTR9t0TLqkY2XCF14

How to test it?

Launch the simulation:

ros2 launch vrx_gz competition.launch.py world:=practice_2023_perception2_task

From the Gazebo top right menu, load the Image Display plugin and verify that the treeline is consistent.