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gazebo_static_camera: allow setting resolution and update-rate #172

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Sep 2, 2024
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gazebo_static_camera: allow setting resolution and update-rate #172

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23 changes: 20 additions & 3 deletions simulation/gazebo/gazebo_static_camera/launch/spawn_static_camera_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,11 @@
# and limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0

import tempfile
from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import DeclareLaunchArgument, ExecuteProcess
from launch.substitutions import LaunchConfiguration
from launch.substitutions.path_join_substitution import PathJoinSubstitution

Expand All @@ -29,6 +29,15 @@

DeclareLaunchArgument('world_name', default_value='default',
description='World name'),

DeclareLaunchArgument('update_rate', default_value='5',
description='Update rate of the sensor'),

DeclareLaunchArgument('image_width', default_value='320',
description='Width of camera image'),

DeclareLaunchArgument('image_height', default_value='240',
description='Height of camera image'),
]

for pose_element in ['x', 'y', 'z', 'roll', 'pitch', 'yaw']:
Expand All @@ -41,10 +50,17 @@ def generate_launch_description():

camera_name = LaunchConfiguration('camera_name')
world_name = LaunchConfiguration('world_name')
update_rate = LaunchConfiguration('update_rate')
image_width = LaunchConfiguration('image_width')
image_height = LaunchConfiguration('image_height')
camera_sdf = tempfile.NamedTemporaryFile(prefix='gazebo_static_camera_', suffix='.sdf', delete=False)

x, y, z = LaunchConfiguration('x'), LaunchConfiguration('y'), LaunchConfiguration('z')
roll, pitch, yaw = LaunchConfiguration('roll'), LaunchConfiguration('pitch'), LaunchConfiguration('yaw')

camera_sdf_xacro = ExecuteProcess(
cmd=['xacro', '-o', camera_sdf.name, ['update_rate:=', update_rate], ['image_width:=', image_width], ['image_height:=', image_height], PathJoinSubstitution([gazebo_static_camera_dir, 'models', 'camera.sdf.xacro'])])

camera_bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
Expand Down Expand Up @@ -80,11 +96,12 @@ def generate_launch_description():
'-R', roll,
'-P', pitch,
'-Y', yaw,
'-file', PathJoinSubstitution([gazebo_static_camera_dir, 'models', 'camera.sdf'])],
'-file', camera_sdf.name],
output='screen'
)

ld = LaunchDescription(ARGUMENTS)
ld.add_action(camera_sdf_xacro)
ld.add_action(camera_bridge)
ld.add_action(spawn_camera)
return ld
12 changes: 8 additions & 4 deletions ...bo/gazebo_static_camera/models/camera.sdf → ...ebo_static_camera/models/camera.sdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,5 +1,9 @@
<?xml version='1.0'?>
<sdf version="1.4">
<sdf version="1.4" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="image_width" default="320"/>
<xacro:arg name="image_height" default="240"/>
<xacro:arg name="update_rate" default="5"/>

<model name="camera">
<static>true</static>
<link name="link">
Expand Down Expand Up @@ -30,16 +34,16 @@
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<width>$(arg image_width)</width>
<height>$(arg image_height)</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>5</update_rate>
<update_rate>$(arg update_rate)</update_rate>
<visualize>true</visualize>
</sensor>
</link>
Expand Down
1 change: 1 addition & 0 deletions simulation/gazebo/gazebo_static_camera/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
<exec_depend>rclpy</exec_depend>
<exec_depend>ros_gz_bridge</exec_depend>
<exec_depend>ros_ign_gazebo</exec_depend>
<exec_depend>xacro</exec_depend>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
Expand Down