Skip to content

add CameraRos to rmf_demos_assets, add humans and camera to hotel world #154

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
PranayShirodkar wants to merge 1 commit into
base: main
Choose a base branch
from
Open

add CameraRos to rmf_demos_assets, add humans and camera to hotel world #154

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 16 additions & 0 deletions rmf_demos_assets/models/CameraRos/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
<?xml version="1.0"?>

<model>
<name>CameraRos</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>

<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>

<description>
A simple camera with a box for visualization.
</description>
</model>
60 changes: 60 additions & 0 deletions rmf_demos_assets/models/CameraRos/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,60 @@
<?xml version="1.0"?>

<sdf version="1.7">
<model name="CameraRos">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<static>true</static>

<link name="visual_link">
<pose>0.0 0.0 0.05 0.0 0.0 0.0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>2</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<lens>
<intrinsics>
<!-- it is up to the user to ensure that:
horizontal_fov = 2 * atan2( width, (2*fx) )
width = cx * 2
height = cy * 2 -->
<fx>205.4696</fx>
<fy>205.4696</fy>
<cx>320</cx>
<cy>240</cy>
</intrinsics>
</lens>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>15</update_rate>
<visualize>true</visualize>
</sensor>
</link>
<plugin
filename="ignition-gazebo-pose-publisher-system"
name="ignition::gazebo::systems::PosePublisher">
<publish_model_pose>true</publish_model_pose>
<publish_nested_model_pose>true</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
</plugin>
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre</render_engine>
</plugin>
</model>
</sdf>
4 changes: 4 additions & 0 deletions rmf_demos_maps/maps/hotel/hotel.building.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -163,6 +163,10 @@ levels:
- {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 512.076, y: 712.3680000000001, yaw: 1.5708, z: 0}
- {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 537.609, y: 712.199, yaw: 1.5708, z: 0}
- {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 559.9299999999999, y: 712.876, yaw: 1.5708, z: 0}
- {model_name: OpenRobotics/Standing person, name: OpenRobotics/Standing person, static: true, x: 268.87, y: 597.53700000000003, yaw: 1.5979000000000001, z: 0}
- {model_name: OpenRobotics/Standing person, name: OpenRobotics/Standing person, static: true, x: 296.88099999999997, y: 565.24000000000001, yaw: -0.42659999999999998, z: 0}
- {model_name: OpenRobotics/Standing person, name: OpenRobotics/Standing person, static: true, x: 325.17700000000002, y: 596.39400000000001, yaw: -2.6819000000000002, z: 0}
- {model_name: OpenRobotics/CameraRos, name: camera1, static: true, x: 237.31299999999999, y: 717.54499999999996, yaw: 1, z: 2.2}
vertices:
- [127.862, 550.573, 0, ""]
- [127.1, 350.915, 0, ""]
Expand Down