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Merged
merged 1 commit into from
Mar 2, 2021
Merged

Implement ROS bridge for calling set_rate on cameras and lidars #791

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41 changes: 41 additions & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -183,6 +183,11 @@
<remap from="input/image" to="front/depth" />
<remap from="output/image" to="front/optical/depth" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_rgbd_set_rate" />
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/camera/set_rate" />
<arg name="ros_service" value="front/set_rate" />
</include>

<!-- Planar Laser -->
<node
Expand All @@ -193,6 +198,12 @@
<remap from="$(arg link_prefix)/laser/sensor/laser/scan" to="front_scan"/>
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_lidar_set_rate" />
<arg name="ign_service" value="$(arg link_prefix)/laser/sensor/laser/scan/set_rate" />
<arg name="ros_service" value="front_scan/set_rate" />
</include>

<!-- Omnicamera -->

<node
Expand All @@ -219,6 +230,11 @@
<remap from="input/camera_info" to="omni/camera_0/camera_info" />
<remap from="output/camera_info" to="omni/camera_0/optical/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_omnicam0_set_rate" />
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0/image/set_rate" />
<arg name="ros_service" value="omni/camera_0/set_rate" />
</include>

<node
pkg="ros_ign_bridge"
Expand All @@ -244,6 +260,11 @@
<remap from="input/camera_info" to="omni/camera_1/camera_info" />
<remap from="output/camera_info" to="omni/camera_1/optical/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_omnicam1_set_rate" />
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1/image/set_rate" />
<arg name="ros_service" value="omni/camera_1/set_rate" />
</include>

<node
pkg="ros_ign_bridge"
Expand All @@ -269,6 +290,11 @@
<remap from="input/camera_info" to="omni/camera_2/camera_info" />
<remap from="output/camera_info" to="omni/camera_2/optical/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_omnicam2_set_rate" />
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2/image/set_rate" />
<arg name="ros_service" value="omni/camera_2/set_rate" />
</include>

<node
pkg="ros_ign_bridge"
Expand All @@ -294,6 +320,11 @@
<remap from="input/camera_info" to="omni/camera_3/camera_info" />
<remap from="output/camera_info" to="omni/camera_3/optical/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_omnicam3_set_rate" />
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3/image/set_rate" />
<arg name="ros_service" value="omni/camera_3/set_rate" />
</include>

<node
pkg="ros_ign_bridge"
Expand All @@ -319,6 +350,11 @@
<remap from="input/camera_info" to="omni/camera_4/camera_info" />
<remap from="output/camera_info" to="omni/camera_4/optical/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_omnicam4_set_rate" />
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4/image/set_rate" />
<arg name="ros_service" value="omni/camera_4/set_rate" />
</include>

<node
pkg="ros_ign_bridge"
Expand All @@ -344,6 +380,11 @@
<remap from="input/camera_info" to="omni/camera_5/camera_info" />
<remap from="output/camera_info" to="omni/camera_5/optical/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_omnicam5_set_rate" />
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5/image/set_rate" />
<arg name="ros_service" value="omni/camera_5/set_rate" />
</include>

<!--IMU-->
<node
Expand Down
1 change: 1 addition & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/package.xml
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Expand Up @@ -21,6 +21,7 @@
<exec_depend>ignition-gazebo4</exec_depend>

<exec_depend>roslaunch</exec_depend>
<exec_depend>subt_ros</exec_depend>
<exec_depend>xacro</exec_depend>

</package>
20 changes: 20 additions & 0 deletions submitted_models/explorer_ds1_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -122,6 +122,11 @@
<remap from="input/camera_info" to="depth/camera_info" />
<remap from="output/camera_info" to="optical/depth/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/rs_up/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>
</group>

<!--DOWN RGBD camera -->
Expand Down Expand Up @@ -179,6 +184,11 @@
<remap from="input/camera_info" to="depth/camera_info" />
<remap from="output/camera_info" to="optical/depth/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/rs_down/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>
</group>

<!--Front RGBD camera -->
Expand Down Expand Up @@ -236,6 +246,11 @@
<remap from="input/camera_info" to="depth/camera_info" />
<remap from="output/camera_info" to="optical/depth/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/rs_front/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>
</group>

<!-- 3D lidar -->
Expand All @@ -247,6 +262,11 @@
args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
<remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
<arg name="ros_service" value="points/set_rate" />
</include>
</group>

<!-- UAV -->
Expand Down
8 changes: 5 additions & 3 deletions submitted_models/explorer_ds1_sensor_config_1/package.xml
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Expand Up @@ -11,8 +11,10 @@
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>roslaunch</buildtool_depend>
<buildtool_depend>urdf</buildtool_depend>
<buildtool_depend>xacro</buildtool_depend>

<exec_depend>roslaunch</exec_depend>
<exec_depend>subt_ros</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>

</package>
28 changes: 28 additions & 0 deletions submitted_models/explorer_x1_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -101,6 +101,11 @@
<remap from="output/image" to="depth/optical/image_raw" />
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/front_realsense/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>
</group>

<!--Left RGBD camera -->
Expand Down Expand Up @@ -154,6 +159,12 @@
<remap from="output/image" to="depth/optical/image_raw" />
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/left_realsense/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>

</group>

<!--Rear RGBD camera -->
Expand Down Expand Up @@ -207,6 +218,12 @@
<remap from="output/image" to="depth/optical/image_raw" />
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/rear_realsense/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>

</group>

<!--Right RGBD camera -->
Expand Down Expand Up @@ -260,6 +277,12 @@
<remap from="output/image" to="depth/optical/image_raw" />
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/right_realsense/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>

</group>

<!--Front Laser-->
Expand All @@ -270,6 +293,11 @@
args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
<remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
<arg name="ros_service" value="points/set_rate" />
</include>


<!--IMU-->
Expand Down
1 change: 1 addition & 0 deletions submitted_models/explorer_x1_sensor_config_1/package.xml
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Expand Up @@ -12,6 +12,7 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslaunch</build_depend>
<exec_depend>lms1xx</exec_depend>
<exec_depend>subt_ros</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>

Expand Down
30 changes: 29 additions & 1 deletion submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch
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Expand Up @@ -101,6 +101,12 @@
<remap from="output/image" to="depth/optical/image_raw" />
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/front_realsense/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>

</group>

<!--Left RGBD camera -->
Expand Down Expand Up @@ -154,6 +160,12 @@
<remap from="output/image" to="depth/optical/image_raw" />
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/left_realsense/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>

</group>

<!--Rear RGBD camera -->
Expand Down Expand Up @@ -207,6 +219,12 @@
<remap from="output/image" to="depth/optical/image_raw" />
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/rear_realsense/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>

</group>

<!--Right RGBD camera -->
Expand Down Expand Up @@ -260,6 +278,12 @@
<remap from="output/image" to="depth/optical/image_raw" />
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/right_realsense/set_rate" />
<arg name="ros_service" value="set_rate" />
</include>

</group>

<!--Front Laser-->
Expand All @@ -270,7 +294,11 @@
args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
<remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
</node>

<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
<arg name="ros_service" value="points/set_rate" />
</include>

<!--IMU-->
<node
Expand Down
1 change: 1 addition & 0 deletions submitted_models/explorer_x1_sensor_config_2/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslaunch</build_depend>
<exec_depend>lms1xx</exec_depend>
<exec_depend>subt_ros</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>

Expand Down
20 changes: 20 additions & 0 deletions submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,11 @@
<remap from="input/image" to="front/depth" />
<remap from="output/image" to="front/optical/depth" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_rgbd_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/camera_front/set_rate" />
<arg name="ros_service" value="front/set_rate" />
</include>

<!-- Top TOF -->
<node
Expand Down Expand Up @@ -134,6 +139,11 @@
<remap from="input/camera_info" to="tof_top/camera_info" />
<remap from="output/camera_info" to="tof_top/optical/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_tof_top_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/tof_top/depth_image/set_rate" />
<arg name="ros_service" value="tof_top/set_rate" />
</include>

<!-- Bottom TOF -->
<node
Expand Down Expand Up @@ -166,6 +176,11 @@
<remap from="input/camera_info" to="tof_bottom/camera_info" />
<remap from="output/camera_info" to="tof_bottom/optical/camera_info" />
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_tof_bottom_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/tof_bottom/depth_image/set_rate" />
<arg name="ros_service" value="tof_bottom/set_rate" />
</include>

<!-- 3D lidar -->
<node
Expand All @@ -175,6 +190,11 @@
args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
<remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
</node>
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
<arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
<arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
<arg name="ros_service" value="points/set_rate" />
</include>

<node
pkg="ros_ign_bridge"
Expand Down
8 changes: 5 additions & 3 deletions submitted_models/marble_qav500_sensor_config_1/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,10 @@
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>roslaunch</buildtool_depend>
<buildtool_depend>urdf</buildtool_depend>
<buildtool_depend>xacro</buildtool_depend>

<exec_depend>roslaunch</exec_depend>
<exec_depend>subt_ros</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>

</package>
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