Refactor rgbd_camera_bridge demo (#643)

Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Dec 18, 2024 · 5cc492c · 5cc492c
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diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
@@ -171,7 +171,7 @@ Using the image bridge (unidirectional, uses [image_transport](http://wiki.ros.o
 
 Using the regular bridge:
 
-    ros2 launch ros_gz_sim_demos rgbd_camera_bridge.launch.py
+    ros2 launch ros_gz_sim_demos rgbd_camera_bridge.launch.xml
 
 *TODO*: Blocked by `ros_gz_point_cloud` [issue](https://github.com/gazebosim/ros_gz/issues/40).
 

diff --git a/ros_gz_sim_demos/config/rgbd_camera_bridge.yaml b/ros_gz_sim_demos/config/rgbd_camera_bridge.yaml
@@ -0,0 +1,38 @@
+# rgbd_camera_bridge configuration.
+- ros_topic_name: "/camera/image"
+  gz_topic_name: "/camera"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/camera_info"
+  gz_topic_name: "/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/rgbd_camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/rgbd_camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/rgbd_camera/depth_image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/rgbd_camera/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  lazy: true
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/rgbd_camera_bridge.launch.py b/ros_gz_sim_demos/launch/rgbd_camera_bridge.launch.py
diff --git a/ros_gz_sim_demos/launch/rgbd_camera_bridge.launch.xml b/ros_gz_sim_demos/launch/rgbd_camera_bridge.launch.xml
@@ -0,0 +1,13 @@
+<launch>
+  <gz_server
+    world_sdf_file="sensors_demo.sdf"
+    use_composition="True"
+    create_own_container="True" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/rgbd_camera_bridge.yaml"
+    use_composition="True" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/rgbd_camera_bridge.rviz" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id rgbd_camera --child-frame-id rgbd_camera/link/rgbd_camera" />
+  <executable cmd="gz sim -g" />
+</launch>
diff --git a/ros_gz_sim_demos/rviz/rgbd_camera_bridge.rviz b/ros_gz_sim_demos/rviz/rgbd_camera_bridge.rviz
@@ -5,14 +5,12 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /PointCloud21/Status1
       Splitter Ratio: 0.3251533806324005
-    Tree Height: 701
+    Tree Height: 688
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
     Expanded:
-      - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
@@ -44,13 +42,16 @@ Visualization Manager:
       Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
-      Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.05000000074505806
       Style: Flat Squares
-      Topic: /rgbd_camera/points
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rgbd_camera/points
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -61,9 +62,12 @@ Visualization Manager:
       Min Value: 0
       Name: Image
       Normalize Range: false
-      Queue Size: 10
-      Topic: /rgbd_camera/depth_image
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rgbd_camera/depth_image
       Value: true
     - Class: rviz_default_plugins/Image
       Enabled: true
@@ -72,14 +76,35 @@ Visualization Manager:
       Min Value: 0
       Name: Image
       Normalize Range: true
-      Queue Size: 10
-      Topic: /rgbd_camera/image
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rgbd_camera/image
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: rgbd_camera/link/rgbd_camera
+    Fixed Frame: rgbd_camera
     Frame Rate: 30
   Name: root
   Tools:
@@ -89,12 +114,30 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
-      Topic: /initialpose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
     - Class: rviz_default_plugins/SetGoal
-      Topic: /move_base_simple/goal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /move_base_simple/goal
     - Class: rviz_default_plugins/PublishPoint
       Single click: true
-      Topic: /clicked_point
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
   Transformation:
     Current:
       Class: rviz_default_plugins/TF
@@ -130,13 +173,13 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000174000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000002ed00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0049006d006100670065010000003b000002020000002800fffffffb0000000a0049006d0061006700650100000243000000f00000002800fffffffb0000000a0056006900650077007300000000cf00000264000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000221000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000174000002f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000002ed00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002f0000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f0fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0049006d006100670065010000003f000001fd0000001700fffffffb0000000a0049006d0061006700650100000242000000ed0000001700fffffffb0000000a0056006900650077007300000000cf00000264000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000221000002f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
   Width: 1200
-  X: 375
-  Y: 1116
+  X: 1312
+  Y: 378