Add axis camera URDFs & meshes

clearpath_sensors_description/urdf/axis_dome_fixed.urdf.xacro

@@ -0,0 +1,84 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="axis_dome_fixed" params="prefix parent topic stand_height:=0.062 *origin">
+    <link name="${prefix}_base_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="1" />
+        <inertia
+          ixx="1.0" ixy="0.0" ixz="0.0"
+          iyy="1.0" iyz="0.0"
+          izz="1.0" />
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://axis_description/meshes/axis_dome.stl" scale="1 1 1" />
+        </geometry>
+        <material name="axis_white">
+          <color rgba="0.8 0.8 0.8 1.0" />
+        </material>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </visual>
+      <collision>
+        <!-- Cylinder for the main body of the camera -->
+        <geometry>
+          <cylinder radius="0.09" length="0.09" />
+        </geometry>
+        <origin xyz="0 0 ${stand_height + 0.09/2}" rpy="0 0 0" />
+      </collision>
+      <collision>
+        <!-- Sphere collider for the dome itself -->
+        <geometry>
+          <sphere radius="0.067" />
+        </geometry>
+        <origin xyz="0 0 ${stand_height + 0.09}" />
+      </collision>
+      <collision>
+        <!-- Box collider for the metal stand the camera sits on -->
+        <geometry>
+          <box size="0.04 0.08 ${stand_height}" />
+        </geometry>
+        <origin xyz="0 0 ${stand_height/2}" rpy="0 0 0" />
+      </collision>
+    </link>
+    <joint name="${prefix}_base_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}" />
+      <child link="${prefix}_base_link" />
+    </joint>
+
+    <link name="${prefix}_camera_link" />
+    <joint name="${prefix}_camera_joint" type="fixed">
+      <parent link="${prefix}_base_link" />
+      <child link="${prefix}_camera_link" />
+      <origin xyz="0.047 0 ${stand_height + 0.09 + 0.047}" rpy="0 0.7854 0" />
+    </joint>
+
+    <gazebo reference="${prefix}_camera_link">
+      <material>Gazebo/Black</material>
+      <sensor type="camera" name="${prefix}_dome_camera">
+        <update_rate>15</update_rate>
+        <camera>
+          <horizontal_fov>6.28</horizontal_fov>
+          <vertical_fov>1.57</vertical_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>500.0</far>
+          </clip>
+        </camera>
+        <plugin name="${prefix}_camera_controller" filename="libgazebo_ros_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <cameraName>${prefix}_camera</cameraName>
+          <imageTopicName>${topic}</imageTopicName>
+          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+          <frameName>${prefix}_camera_link</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>

clearpath_sensors_description/urdf/axis_dome_ptz.urdf.xacro

@@ -0,0 +1,146 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="axis_dome_ptz" params="prefix parent topic stand_height:=0.062 *origin">
+    <link name="${prefix}_base_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="1" />
+        <inertia
+          ixx="1.0" ixy="0.0" ixz="0.0"
+          iyy="1.0" iyz="0.0"
+          izz="1.0" />
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://axis_description/meshes/axis_dome.stl" scale="1 1 1" />
+        </geometry>
+        <material name="axis_white">
+          <color rgba="0.8 0.8 0.8 1.0" />
+        </material>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </visual>
+      <collision>
+        <!-- Cylinder for the main body of the camera -->
+        <geometry>
+          <cylinder radius="0.09" length="0.09" />
+        </geometry>
+        <origin xyz="0 0 ${stand_height + 0.09/2}" rpy="0 0 0" />
+      </collision>
+      <collision>
+        <!-- Sphere collider for the dome itself -->
+        <geometry>
+          <sphere radius="0.067" />
+        </geometry>
+        <origin xyz="0 0 ${stand_height + 0.09}" />
+      </collision>
+      <collision>
+        <!-- Box collider for the metal stand the camera sits on -->
+        <geometry>
+          <box size="0.04 0.08 ${stand_height}" />
+        </geometry>
+        <origin xyz="0 0 ${stand_height/2}" rpy="0 0 0" />
+      </collision>
+    </link>
+    <joint name="${prefix}_base_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}" />
+      <child link="${prefix}_base_link" />
+    </joint>
+
+    <link name="${prefix}_body_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="1" />
+        <inertia
+          ixx="1.0" ixy="0.0" ixz="0.0"
+          iyy="1.0" iyz="0.0"
+          izz="1.0" />
+      </inertial>
+    </link>
+    <joint name="${prefix}_pan_joint" type="continuous">
+      <axis xyz="0 0 -1" />
+      <parent link="${prefix}_base_link" />
+      <child link="${prefix}_body_link" />
+      <origin xyz="0 0 ${stand_height}" rpy="0 0 0" />
+    </joint>
+    <gazebo reference="${prefix}_body_link">
+      <material>Gazebo/LightGrey</material>
+    </gazebo>
+
+    <link name="${prefix}_head_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="1" />
+        <inertia
+          ixx="1.0" ixy="0.0" ixz="0.0"
+          iyy="1.0" iyz="0.0"
+          izz="1.0" />
+      </inertial>
+    </link>
+    <joint name="${prefix}_tilt_joint" type="revolute">
+      <limit lower="0" upper="1.5707" effort="1" velocity="3.14159" />
+      <axis xyz="0 -1 0" />
+      <parent link="${prefix}_body_link" />
+      <child link="${prefix}_head_link" />
+      <origin xyz="0 0 0.09" rpy="0 0 0" />
+    </joint>
+
+    <!--
+      Add the gazebo reference frame
+    -->
+    <link name="${prefix}_camera_link" />
+    <joint name="${prefix}_camera_joint" type="fixed">
+      <parent link="${prefix}_head_link" />
+      <child link="${prefix}_camera_link" />
+      <origin xyz="0.067 0 0" rpy="0 0 0" />
+    </joint>
+
+    <!--
+      Simulation support: camera plugin & transmissions to allow control over the joints
+    -->
+    <transmission name="${prefix}_pan_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}_pan_joint">
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}_pan_actuator">
+          <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    <transmission name="${prefix}_tilt_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}_tilt_joint">
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}_tilt_actuator">
+          <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    <gazebo reference="${prefix}_camera_link">
+      <material>Gazebo/Black</material>
+      <sensor type="camera" name="${prefix}_ptz_camera">
+        <update_rate>15</update_rate>
+        <camera>
+          <horizontal_fov>1.5184351666666667</horizontal_fov>
+          <vertical_fov>1.0122901111111111</vertical_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>500.0</far>
+          </clip>
+        </camera>
+        <plugin name="${prefix}_camera_controller" filename="libgazebo_ros_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <cameraName>${prefix}_camera</cameraName>
+          <imageTopicName>${topic}</imageTopicName>
+          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+          <frameName>${prefix}_camera_link</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>

clearpath_sensors_description/urdf/axis_q62.urdf.xacro

@@ -0,0 +1,164 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="axis_q62" params="prefix parent topic *origin">
+    <link name="${prefix}_base_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="1" />
+        <inertia
+          ixx="1.0" ixy="0.0" ixz="0.0"
+          iyy="1.0" iyz="0.0"
+          izz="1.0" />
+      </inertial>
+    </link>
+    <joint name="${prefix}_base_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}" />
+      <child link="${prefix}_base_link" />
+    </joint>
+
+    <link name="${prefix}_body_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="1" />
+        <inertia
+          ixx="1.0" ixy="0.0" ixz="0.0"
+          iyy="1.0" iyz="0.0"
+          izz="1.0" />
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://clearpth_sensors_description/meshes/axis_q62_base.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="axis_grey">
+          <color rgba="0.7 0.7 0.7 1.0" />
+        </material>
+        <origin xyz="-0.1 -0.17 0" rpy="0 0 0" />
+      </visual>
+      <collision>
+        <geometry>
+          <cylinder radius="0.085" length="0.22" />
+        </geometry>
+        <origin xyz="0 0 0.11" rpy="0 0 0" />
+      </collision>
+    </link>
+    <joint name="${prefix}_pan_joint" type="continuous">
+      <axis xyz="0 0 -1" />
+      <parent link="${prefix}_base_link" />
+      <child link="${prefix}_body_link" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+    <gazebo reference="${prefix}_body_link">
+      <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <link name="${prefix}_head_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="1" />
+        <inertia
+          ixx="1.0" ixy="0.0" ixz="0.0"
+          iyy="1.0" iyz="0.0"
+          izz="1.0" />
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://clearpth_sensors_description/meshes/axis_q62_top.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="axis_grey">
+          <color rgba="0.7 0.7 0.7 1.0" />
+        </material>
+        <origin xyz="-0.1 -0.165 -0.215" rpy="0 0 0" />
+      </visual>
+      <collision>
+        <geometry>
+          <cylinder radius="0.1" length="0.33" />
+        </geometry>
+        <origin xyz="0 0 0" rpy="1.5707963267948966 0 0" />
+      </collision>
+    </link>
+    <joint name="${prefix}_tilt_joint" type="revolute">
+      <limit lower="-1.5707" upper="1.5707" effort="1" velocity="3.14159" />
+      <axis xyz="0 -1 0" />
+      <parent link="${prefix}_body_link" />
+      <child link="${prefix}_head_link" />
+      <origin xyz="0 0 0.215" rpy="0 0 0" />
+    </joint>
+    <gazebo reference="${prefix}_head_link">
+      <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <!--
+      Add the shades & gazebo reference frame
+    -->
+    <link name="${prefix}_camera_link">
+      <visual>
+        <geometry>
+          <box size="0.03 0.09 0.01" />
+        </geometry>
+        <origin xyz="-0.01 0 0.05" rpy="0 0 0" />
+        <material name="black" />
+      </visual>
+      <visual>
+        <geometry>
+          <box size="0.03 0.09 0.01" />
+        </geometry>
+        <origin xyz="-0.01 0.20 0.05" rpy="0 0 0" />
+        <material name="black" />
+      </visual>
+    </link>
+    <joint name="${prefix}_camera_joint" type="fixed">
+      <parent link="${prefix}_head_link" />
+      <child link="${prefix}_camera_link" />
+      <origin xyz="0.1 -0.107 0" rpy="0 0 0" />
+    </joint>
+
+    <!--
+      Simulation support: camera plugin & transmissions to allow control over the joints
+    -->
+    <transmission name="${prefix}_pan_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}_pan_joint">
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}_pan_actuator">
+          <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    <transmission name="${prefix}_tilt_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}_tilt_joint">
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}_tilt_actuator">
+          <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    <gazebo reference="${prefix}_camera_link">
+      <material>Gazebo/Black</material>
+      <sensor type="camera" name="${prefix}_ptz_camera">
+        <update_rate>15</update_rate>
+        <camera>
+          <horizontal_fov>1.5184351666666667</horizontal_fov>
+          <vertical_fov>1.0122901111111111</vertical_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>500.0</far>
+          </clip>
+        </camera>
+        <plugin name="${prefix}_camera_controller" filename="libgazebo_ros_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <cameraName>${prefix}_camera</cameraName>
+          <imageTopicName>${topic}</imageTopicName>
+          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+          <frameName>${prefix}_camera_link</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>