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umigv / simulation_stack

Simulation model for ARV's 2022-2024 robot "Marvin"
MIT License
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Sim Camera tweaks #8

Closed Ryan4253 closed 5 months ago

Ryan4253 commented 5 months ago

Describe the bug Sim Camera has the following issues to be fixed:

  1. The mounting joint is at the dead center of the camera visuals. It should be moved to the bottom of the camera to match ZED 2 camera model mounting scheme.
  2. The visuals should be made to (more approximately) match the ZED 2 camera.
  3. Constants (ex. FOV) should be tuned to match the actual camera.
  4. Move camera Gazebo plugin that is currently inside marvin.gazebo into the camera xacro block. It is part of the sim camera and should be organized so.
  5. Camera should use the inertial blocks made in inertia.xacro.

Screenshots image image

Additional context These two videos will be good sources to work with this: https://www.youtube.com/watch?v=A3nw2M47K50 https://www.youtube.com/watch?v=T9xZ22i9-Ys&ab_channel=ArticulatedRobotics

Ryan4253 commented 5 months ago

image Model and plugin is done, working on getting accurate constants for the camera