Open dmxwk98 opened 1 year ago
hello i really appreciate Sharing this project!
but, this plugin not work for me.
My Env. ROS2-Foxy, Gazebo 11.x
i just build using command 'colcon build' this package
and
cd {build_directory} (For finding .so plugin file)
export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH
finally, i turn on the gazebo with camera sdf file
but a few second ago gazebo shut down..
Can you please tell me how to do it right?
below code is the sdf file
<?xml version="1.0"?> <sdf version="1.7"> <model name="realsense_d455"> <pose>0 0 0.035 0 0 3.14159265359</pose> <static>true</static> <link name="link"> <inertial> <pose>0.1 0.025 0.025 0 0 0</pose> <mass>0.077</mass> <inertia> <ixx>0.003881243</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.000498940</iyy> <iyz>0</iyz> <izz>0.003879257</izz> </inertia> </inertial> <visual name="visual"> <pose>-0.01 0 0 1.57079632679 0 1.57079632679</pose> <geometry> <mesh> <uri>model://realsense_d455/mesh/realsense_d455.obj</uri> <scale>0.001 0.001 0.001 </scale> </mesh> <material> <script> <name>Gazebo/White</name> <uri>file://media/materials/scripts/gazebo.material</uri> </script> </material> </geometry> </visual> <sensor name="cameradepth" type="depth"> <camera name="camera"> <horizontal_fov>1.57</horizontal_fov> <image> <width>1280</width> <height>720</height> </image> <clip> <near>0.1</near> <far>100</far> </clip> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.100</stddev> </noise> </camera> <always_on>1</always_on> <update_rate>30</update_rate> <visualize>0</visualize> </sensor> <sensor name="cameracolor" type="camera"> <camera name="camera"> <horizontal_fov>1.57</horizontal_fov> <image> <width>1280</width> <height>720</height> <format>RGB_INT8</format> </image> <clip> <near>0.1</near> <far>100</far> </clip> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.007</stddev> </noise> </camera> <always_on>1</always_on> <update_rate>30</update_rate> <visualize>1</visualize> </sensor> <sensor name="cameraired1" type="camera"> <camera name="camera"> <horizontal_fov>1.57</horizontal_fov> <image> <width>1280</width> <height>720</height> <format>L_INT8</format> </image> <clip> <near>0.1</near> <far>100</far> </clip> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.05</stddev> </noise> </camera> <always_on>1</always_on> <update_rate>1</update_rate> <visualize>0</visualize> </sensor> <sensor name="cameraired2" type="camera"> <camera name="camera"> <horizontal_fov>1.57</horizontal_fov> <image> <width>1280</width> <height>720</height> <format>L_INT8</format> </image> <clip> <near>0.1</near> <far>100</far> </clip> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.05</stddev> </noise> </camera> <always_on>1</always_on> <update_rate>1</update_rate> <visualize>0</visualize> </sensor> </link> <joint name="realsense_joint" type="fixed"> <parent>base_link</parent> <child>realsense_link</child> <pose>0.4 0 0.4 0 0 0</pose> </joint> <plugin name="camera" filename="librealsense_gazeasdabo_plugin.so"> <prefix>camera</prefix> <depthUpdateRate>30.0</depthUpdateRate> <colorUpdateRate>30.0</colorUpdateRate> <infraredUpdateRate>1.0</infraredUpdateRate> <depthTopicName>aligned_depth_to_color/image_raw</depthTopicName> <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName> <colorTopicName>color/image_raw</colorTopicName> <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName> <infrared1TopicName>infra1/image_raw</infrared1TopicName> <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName> <infrared2TopicName>infra2/image_raw</infrared2TopicName> <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName> <colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName> <depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName> <infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName> <infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName> <rangeMinDepth>0.3</rangeMinDepth> <rangeMaxDepth>3.0</rangeMaxDepth> <pointCloud>true</pointCloud> <pointCloudTopicName>depth/color/points</pointCloudTopicName> <pointCloudCutoff>0.3</pointCloudCutoff> </plugin> </model> </sdf>
hello i really appreciate Sharing this project!
but, this plugin not work for me.
My Env. ROS2-Foxy, Gazebo 11.x
i just build using command 'colcon build' this package
and
and
finally, i turn on the gazebo with camera sdf file
but a few second ago gazebo shut down..
Can you please tell me how to do it right?
below code is the sdf file