Merge pull request #533 from ethz-asl/feature/gazebo9-autobackport

Changes default code to Gazebo9 API. Uses autobackport scripts to convert plugin source code to earlier versions.
ethz-asl · Apr 10, 2019 · 748268f · 748268f
2 parents d7860b1 + bd14ba2
commit 748268f
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diff --git a/rotors_comm/CHANGELOG.rst b/rotors_comm/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package rotors_comm
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2018-12-13)
+------------------
+
+2.2.2 (2018-12-12)
+------------------
+
+2.2.0 (2018-12-10)
+------------------
+* switch to package format 2
+* Merge pull request `#397 <https://github.com/ethz-asl/rotors_simulator/issues/397>`_ from ethz-asl/v2.1.1
+  update to 2.1.1
+* Contributors: Fadri Furrer, Mina Kamel
+
 2.1.1 (2017-04-27)
 -----------
 * update maintainers

diff --git a/rotors_comm/package.xml b/rotors_comm/package.xml
@@ -1,6 +1,6 @@
-<package>
+<package format="2">
   <name>rotors_comm</name>
-  <version>2.1.1</version>
+  <version>2.2.3</version>
   <description>RotorS specific messages and services.</description>
 
   <maintainer email="[email protected]">Fadri Furrer</maintainer>
@@ -20,12 +20,9 @@
   <!-- Dependencies which this package needs to build itself. -->
   <buildtool_depend>catkin</buildtool_depend>
 
-  <!-- Dependencies needed to compile this package. -->
-  <build_depend>message_generation</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>octomap_msgs</build_depend>
-  <build_depend>cmake_modules</build_depend>
-
-  <!-- Dependencies needed after this package is compiled. -->
-  <run_depend>message_runtime</run_depend>
+  <depend>cmake_modules</depend>
+  <depend>geometry_msgs</depend>
+  <depend>message_generation</depend>
+  <depend>message_runtime</depend>
+  <depend>octomap_msgs</depend>
 </package>
diff --git a/rotors_control/CHANGELOG.rst b/rotors_control/CHANGELOG.rst
@@ -2,6 +2,25 @@
 Changelog for package rotors_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2018-12-13)
+------------------
+
+2.2.2 (2018-12-12)
+------------------
+
+2.2.0 (2018-12-10)
+------------------
+* switch to package format 2
+* switch to Eigen3 from Eigen
+* Merge pull request `#466 <https://github.com/ethz-asl/rotors_simulator/issues/466>`_ from ethz-asl/fix/lee_position_controller_nodehandle
+  make node handles member variables
+* make nh member variable
+  The NodeHandle (and the subscribers/publishers) are deleted if they go
+  out of scope. I am not sure how it was working all this time.
+* Merge pull request `#397 <https://github.com/ethz-asl/rotors_simulator/issues/397>`_ from ethz-asl/v2.1.1
+  update to 2.1.1
+* Contributors: Fadri Furrer, Mina Kamel
+
 2.1.1 (2017-04-27)
 -----------
 * update maintainers

diff --git a/rotors_control/CMakeLists.txt b/rotors_control/CMakeLists.txt
@@ -12,19 +12,19 @@ find_package(catkin REQUIRED COMPONENTS
   cmake_modules
 )
 
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 catkin_package(
-  INCLUDE_DIRS include ${Eigen_INCLUDE_DIRS}
+  INCLUDE_DIRS include ${Eigen3_INCLUDE_DIRS}
   LIBRARIES lee_position_controller roll_pitch_yawrate_thrust_controller
   CATKIN_DEPENDS geometry_msgs mav_msgs nav_msgs roscpp sensor_msgs
-  DEPENDS Eigen
+  DEPENDS Eigen3
 )
 
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
-  ${Eigen_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS}
 )
 
 add_library(lee_position_controller

diff --git a/rotors_control/package.xml b/rotors_control/package.xml
@@ -1,6 +1,6 @@
-<package>
+<package format="2">
   <name>rotors_control</name>
-  <version>2.1.1</version>
+  <version>2.2.3</version>
   <description>RotorS control package</description>
 
   <maintainer email="[email protected]">Fadri Furrer</maintainer>
@@ -19,18 +19,12 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>mav_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>cmake_modules</build_depend>
-
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>mav_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
+  <depend>cmake_modules</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>geometry_msgs</depend>
+  <depend>mav_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>roscpp</depend>
+  <depend>sensor_msgs</depend>
 
 </package>
diff --git a/rotors_description/CHANGELOG.rst b/rotors_description/CHANGELOG.rst
@@ -2,6 +2,39 @@
 Changelog for package rotors_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2018-12-13)
+------------------
+
+2.2.2 (2018-12-12)
+------------------
+
+2.2.0 (2018-12-10)
+------------------
+* fixed xmlns:xacro link
+* switch to package format 2
+* Merge pull request `#529 <https://github.com/ethz-asl/rotors_simulator/issues/529>`_ from ethz-asl/feature/gazebo9-noisydepth
+  Feature/gazebo9 noisydepth
+* Added parameters for noise models and reformatted code
+* Cleanup of .xacro file
+* Disabled sensor visual
+* Fixed orientation and position of mesh relative to camera center (here, left imager) as per datasheet)
+* Realsense definiton (positions etc wrong, to be corrected)
+* Merge pull request `#464 <https://github.com/ethz-asl/rotors_simulator/issues/464>`_ from ethz-asl/fix/set_rate_back
+  Set odometry rate back to 1/1 of real-time rate.
+* Set odometry rate back to 1/1 of real-time rate.
+* Merge pull request `#457 <https://github.com/ethz-asl/rotors_simulator/issues/457>`_ from ethz-asl/fix/odom_rate
+  Set publish rate to 100 Hz instead of 1000Hz to better match real system
+* Set publish rate to 100 Hz instead of 1000Hz to better match real system
+* Fix/neo11 namespace (`#418 <https://github.com/ethz-asl/rotors_simulator/issues/418>`_)
+  * Change argument from 'mav_name' to 'namespace' to ease spawning of multiple neo11s
+* Merge pull request `#374 <https://github.com/ethz-asl/rotors_simulator/issues/374>`_ from ethz-asl/feature/wind_plugin_extended
+  Extending wind plugin
+* Requested changes for PR.
+* Merge pull request `#397 <https://github.com/ethz-asl/rotors_simulator/issues/397>`_ from ethz-asl/v2.1.1
+  update to 2.1.1
+* Extended wind plugin to read custom wind values from a text file.
+* Contributors: Andrea Tagliabue, Christian Witting, Fadri Furrer, Helen Oleynikova, Mina Kamel, Nicolas El Hayek, Timo Hinzmann, cwitting, michaelpantic, nelhayek
+
 2.1.1 (2017-04-27)
 -----------
 * update maintainers

diff --git a/rotors_description/meshes/d435_simple.dae b/rotors_description/meshes/d435_simple.dae
diff --git a/rotors_description/package.xml b/rotors_description/package.xml
@@ -1,6 +1,6 @@
-<package>
+<package format="2">
   <name>rotors_description</name>
-  <version>2.1.1</version>
+  <version>2.2.3</version>
   <description>The rotors_description package provides URDF models of the AscTec multicopters.</description>
 
   <maintainer email="[email protected]">Fadri Furrer</maintainer>

diff --git a/rotors_description/urdf/rgbd_base.xacro b/rotors_description/urdf/rgbd_base.xacro
@@ -0,0 +1,145 @@
+<?xml version="1.0"?>
+<robot name="$(arg mav_name)" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find rotors_description)/urdf/component_snippets.xacro" />
+
+  <!-- Note that whenever possible, values from Realsense D435 were used.
+       See Intel Document 337029-004: Intel RealSense TM D400 Series Product Family Datasheet.
+       https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Intel-RealSense-D400-Series-Datasheet.pdf
+
+       Here, RGBD camera baselink frame corresponds to the left IR camera center, which is also the camera
+       the sensor is calibrated to in real life and the point cloud is registered to.
+  -->
+
+  <link name="rgbd_camera/base_link">
+    <collision>
+      <origin xyz="0 -0.0175 0" rpy="${pi/2} 0 ${pi/2}" />
+      <geometry>
+              <mesh filename="package://rotors_description/meshes/d435_simple.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 -0.0175 0" rpy="${pi/2} 0 ${pi/2}" />
+      <geometry>
+              <mesh filename="package://rotors_description/meshes/d435_simple.dae" scale="1 1 1" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+
+<!-- Define Macro to add a depth camera using noisy depth plugin  -->
+  <xacro:macro name="rgbd_sensor_depth_macro"
+    params="namespace parent_link camera_suffix frame_rate width height fov max_range min_range baseline *origin">
+    <link name="${namespace}/camera_${camera_suffix}_link">
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <cylinder length="0.01" radius="0.007" />
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="1e-5" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+      </inertial>
+    </link>
+    <joint name="${namespace}/camera_${camera_suffix}_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent_link}" />
+      <child link="${namespace}/camera_${camera_suffix}_link" />
+      <limit upper="0" lower="0" effort="0" velocity="0" />
+    </joint>
+
+    <link name="${namespace}/camera_${camera_suffix}_optical_center_link" />
+    <joint name="${namespace}/camera_${camera_suffix}_optical_center_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}" />
+      <parent link="${namespace}/camera_${camera_suffix}_link" />
+      <child link="${namespace}/camera_${camera_suffix}_optical_center_link" />
+      <limit upper="0" lower="0" effort="0" velocity="0" />
+    </joint>
+
+    <!-- Call rgb sensor macro-->
+    <!-- RGB sensor has "unlimited ranges"-->
+    <xacro:camera_macro
+            namespace="${namespace}"
+            parent_link="rgbd_camera/base_link"
+            camera_suffix="rgb"
+            frame_rate="${frame_rate}"
+            horizontal_fov="${fov}"
+            image_width="${width}"
+            image_height="${height}"
+            image_format="R8G8B8"
+            min_distance="0.01"
+            max_distance="500"
+            noise_mean="0.0"
+            noise_stddev="0.007"
+            enable_visual="false">
+      <box size="0.01 0.01 0.1" />
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    </xacro:camera_macro>
+
+    <gazebo reference="${namespace}/camera_${camera_suffix}_link">
+      <sensor type="depth" name="${namespace}_camera_{camera_suffix}">
+        <always_on>true</always_on>
+        <update_rate>${frame_rate}</update_rate>
+        <camera>
+          <horizontal_fov>${fov}</horizontal_fov>
+          <image>
+            <format>L8</format>
+            <width>${width}</width>
+            <height>${height}</height>
+          </image>
+          <clip>
+            <near>${min_range}</near>
+            <far>${max_range}</far>
+          </clip>
+        </camera>
+        <plugin name="${namespace}_camera_{camera_suffix}" filename="librotors_gazebo_noisydepth_plugin.so">
+          <robotNamespace>${namespace}</robotNamespace>
+          <alwaysOn>true</alwaysOn>
+          <baseline>${baseline}</baseline>
+          <updateRate>${frame_rate}</updateRate>
+          <cameraName>camera_${camera_suffix}</cameraName>
+          <horizontal_fov>${fov}</horizontal_fov>
+ 	  <depthNoiseModelName>D435</depthNoiseModelName>
+ 	  <depthNoiseMinDist>0.02</depthNoiseMinDist>
+ 	  <depthNoiseMaxDist>50.0</depthNoiseMaxDist>
+	  <D435NoiseSubpixelErr>0.25</D435NoiseSubpixelErr> 
+	  <D435MaxStdev>3</D435MaxStdev> 
+          <imageTopicName>camera/image_raw</imageTopicName>
+          <cameraInfoTopicName>camera/camera_info</cameraInfoTopicName>
+          <depthImageTopicName>depth/image_raw</depthImageTopicName>
+          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+          <pointCloudTopicName>depth/points</pointCloudTopicName>
+          <frameName>camera_${camera_suffix}_optical_center_link</frameName>
+          <distortionK1>0.0</distortionK1>
+          <distortionK2>0.0</distortionK2>
+          <distortionK3>0.0</distortionK3>
+          <distortionT1>0.0</distortionT1>
+          <distortionT2>0.0</distortionT2>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- Call depth sensor macro
+    Realsense values -
+      91.2 Deg Horizontal FOV
+      848x480 Optimal depth resolution
+        w 195 mm minimium-z depth
+      5 cm baseline.
+  -->
+  <xacro:rgbd_sensor_depth_macro
+    namespace="${namespace}/rgbd" parent_link="rgbd_camera/base_link"
+    camera_suffix="depth"
+    frame_rate="30.0"
+    fov = "1.59174"
+    baseline = "0.05"
+    width = "848"
+    height = "480"
+    max_range="50.0"
+    min_range="0.195">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+  </xacro:rgbd_sensor_depth_macro>
+
+</robot>
diff --git a/rotors_description/urdf/vi_sensor_base.xacro b/rotors_description/urdf/vi_sensor_base.xacro
@@ -1,9 +1,10 @@
 <?xml version="1.0"?>
-<robot name="vi_sensor" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="vi_sensor" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:property name="namespace" value="vi_sensor" />
   <xacro:include filename="$(find rotors_description)/urdf/component_snippets.xacro" />
 
   <link name="base_link">
+
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>

diff --git a/rotors_evaluation/CHANGELOG.rst b/rotors_evaluation/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package rotors_evaluation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2018-12-13)
+------------------
+
+2.2.2 (2018-12-12)
+------------------
+
+2.2.0 (2018-12-10)
+------------------
+* switch to package format 2
+* Merge pull request `#397 <https://github.com/ethz-asl/rotors_simulator/issues/397>`_ from ethz-asl/v2.1.1
+  update to 2.1.1
+* Contributors: Fadri Furrer, Mina Kamel
+
 2.1.1 (2017-04-27)
 -----------
 * update maintainers

diff --git a/rotors_evaluation/package.xml b/rotors_evaluation/package.xml
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>rotors_evaluation</name>
-  <version>2.1.1</version>
+  <version>2.2.3</version>
   <description>The dataset evaluation package for the RotorS simulator.</description>
 
   <maintainer email="[email protected]">Fadri Furrer</maintainer>
   <maintainer email="[email protected]">Mina Kamel</maintainer>
-  
+
   <author>Fadri Furrer</author>
   <author>Michael Burri</author>
   <author>Mina Kamel</author>
@@ -20,7 +20,5 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>rospy</build_depend>
-
-  <run_depend>rospy</run_depend>
+  <depend>rospy</depend>
 </package>