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[x500_monocam_down] added rangefinder #51

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[x500_monocam_down] added rangefinder #51

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040804e
added downward facing rangefinder
dakejahl Jul 25, 2024
deb51e2
adjust models
dakejahl Jul 26, 2024
1169dc7
mass
dakejahl Jul 26, 2024
a2e0364
added textured ground plane
dakejahl Jul 26, 2024
34a1220
smaller filer
dakejahl Jul 26, 2024
dcc4b06
spawn model on ground
dakejahl Jul 29, 2024
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13 changes: 13 additions & 0 deletions models/arucotag/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,19 @@
</pbr>
</material>
</visual>
<collision name='base_collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.5 0.5</size>
</plane>
</geometry>
<surface>
<contact>
<collide_bitmask>0</collide_bitmask>
</contact>
</surface>
</collision>
</link>
</model>
</sdf>
Binary file added models/arucotag/tiled_meseeks.png
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11 changes: 11 additions & 0 deletions models/rangefinder/model.config
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Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
<?xml version="1.0"?>
<model>
<name>rangefinder</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Jacob Dahl</name>
<email>[email protected]</email>
</author>
<description>Downward facing rangefinder</description>
</model>
50 changes: 50 additions & 0 deletions models/rangefinder/model.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name="rangefinder">
<pose>0 0 0 0 0 0</pose>
<self_collide>false</self_collide>
<link name="rangefinder/base_link">
<inertial>
<pose>0.02 0.02 0.02 0 0 0</pose>
<mass>0.050</mass>
<inertia>
<ixx>0.00004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00004</iyy>
<iyz>0</iyz>
<izz>0.00004</izz>
</inertia>
</inertial>
<visual name="rangefinder/visual/housing">
<geometry>
<box>
<size>0.02 0.02 0.02</size> <!-- Size of the visual representation -->
</box>
</geometry>
</visual>
<sensor type="gpu_ray" name="laser_sensor">
<pose>0 0 0 0 0 0</pose> <!-- Sensor aligned with the link -->
<visualize>true</visualize>
<update_rate>10</update_rate>
<always_on>1</always_on>
<topic>rangefinder</topic>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.08</min>
<max>30.0</max> <!-- Max range can be adjusted as necessary -->
<resolution>0.001</resolution>
</range>
</ray>
</sensor>
</link>
</model>
</sdf>
13 changes: 11 additions & 2 deletions models/x500_mono_cam_down/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,21 @@
</include>
<include merge='true'>
<uri>model://mono_cam</uri>
<pose>0 0 .10 0 1.5707 0</pose>
<pose>0 0 0 0 1.5707 0</pose>
</include>
<joint name="CameraJoint" type="fixed">
<parent>base_link</parent>
<child>mono_cam/base_link</child>
<pose relative_to="base_link">0 0 0 0 1.5707 0</pose>
<pose relative_to="base_link">0 0 0.1 0 1.5707 0</pose>
</joint>
<include merge='true'>
<uri>model://rangefinder</uri>
<pose>0.05 0 0.1 0 1.5707 0</pose>
</include>
<joint name="RangeFinderJoint" type="fixed">
<parent>base_link</parent>
<child>rangefinder/base_link</child>
<pose relative_to="base_link">0.05 0 0.1 0 1.5707 0</pose>
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I would probably add a dedicated model for optical flow.

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you're saying combine range finder and camera? Or a new x500 model?

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No, new x500 model

</joint>
</model>
</sdf>
11 changes: 9 additions & 2 deletions worlds/aruco.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -185,10 +185,17 @@
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
<size>50 50</size>
</plane>
</geometry>
<material>
<pbr>
<metal>
<albedo_map>model://arucotag/tiled_meseeks.png</albedo_map>
<roughness>1.0</roughness>
<metalness>0.0</metalness>
</metal>
</pbr>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
Expand All @@ -214,7 +221,7 @@
</model>
<light name="sunUTC" type="directional">
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<!-- <cast_shadows>true</cast_shadows> -->
<intensity>1</intensity>
<direction>0.001 0.625 -0.78</direction>
<diffuse>0.904 0.904 0.904 1</diffuse>
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