ROS学习第三十九节——摄像头信息仿真以及显示

最新推荐文章于 2024-04-28 00:30:00 发布

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最新推荐文章于 2024-04-28 00:30:00 发布

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1 .新建 Xacro 文件，配置摄像头传感器信息

camera.xacro

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">

  <gazebo reference="camera">

    <sensor type="camera" name="camera_node">
      <update_rate>30.0</update_rate> 

      <camera name="head">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1280</width>
          <height>720</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
 
      <plugin name="gazebo_camera" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>/camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera</frameName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>
</robot>

2 .xacro 文件集成

deamo05_Gazebocar.xacro


<robot name="xacrocar" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:include filename="head.xacro" />
    <xacro:include filename="deamo02_base.xacro" />
    <xacro:include filename="deamo03_camera.xacro" />
    <xacro:include filename="deamo04_laser.xacro" />
    <xacro:include filename="gazebo/move.xacro" />
    <xacro:include filename="gazebo/laser.xacro" />
    <xacro:include filename="gazebo/camera.xacro" />
</robot>

3.启动仿真环境

运行lanuch文件，这里不需要重新编写launch，用上一节的就可以。

deamo03_car_world.launch

source ./devel/setup.bash
roslaunch urdf02_gazebo deamo03_car_world.launch

运行rviz

roslaunch urdf02_gazebo deamo04_sensors.launch

运行一个键盘控制程序

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

打开rviz以后，新建一个摄像头的显示插件