ROS学习第四十节——kinect信息仿真以及显示

https://download.youkuaiyun.com/download/qq_45685327/87720130

1. 新建 Xacro 文件，配置 kinetic传感器信息

kinect.xacro

这里注意没有单独为了深度相机设置的连杆，我们采用激光雷达的连杆，先暂时用一下

reference = support

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
    <gazebo reference="support">  
      <sensor type="depth" name="camera">
        <always_on>true</always_on>
        <update_rate>20.0</update_rate>
        <camera>
          <horizontal_fov>${60.0*PI/180.0}</horizontal_fov>
          <image>
            <format>R8G8B8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.05</near>
            <far>8.0</far>
          </clip>
        </camera>
        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
          <cameraName>camera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <frameName>support</frameName>
          <baseline>0.1</baseline>
          <distortion_k1>0.0</distortion_k1>
          <distortion_k2>0.0</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>0.0</distortion_t1>
          <distortion_t2>0.0</distortion_t2>
          <pointCloudCutoff>0.4</pointCloudCutoff>
        </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" />
    <xacro:include filename="gazebo/kinect.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