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X500 with Optical Flow #75

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Merged
merged 13 commits into from
Feb 23, 2025
Merged

X500 with Optical Flow #75

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81fb1f4
added meseeks texture to aruco world, added x500_flow model with came…
dakejahl Dec 20, 2024
f6f37c5
remove Z offset from x500 model spawn
dakejahl Dec 21, 2024
8d2eddc
remove visual Z offset
dakejahl Dec 21, 2024
56dc25f
Added optical_flow model and plugin
dakejahl Dec 25, 2024
f92f68a
64x64 and narrow fov
dakejahl Jan 7, 2025
ad2f534
updated fov, resolution, and update rate to match PAW3902
dakejahl Jan 8, 2025
b009074
100x100 for performance
dakejahl Jan 8, 2025
deb89fc
revert x500_base pose
dakejahl Jan 24, 2025
9de51e5
add back aruco tag to aruco world
dakejahl Feb 14, 2025
f777ff1
fix topic names to support multi vehicle sim
dakejahl Feb 18, 2025
ae60e01
added texture and trees
dakejahl Feb 23, 2025
5d8a1cc
add forest world, remove other changes
dakejahl Feb 23, 2025
c1365ad
update models
dakejahl Feb 23, 2025
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11 changes: 11 additions & 0 deletions models/optical_flow/model.config
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Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<model>
<name>optical_flow</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Jacob Dahl</name>
<email>jake@arkelectron.com</email>
</author>
<description>Optical Flow</description>
</model>
79 changes: 79 additions & 0 deletions models/optical_flow/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='optical_flow'>
<pose>0 0 0 0 0 0</pose>
<self_collide>false</self_collide>
<static>false</static>
<link name="flow_link">
<inertial>
<pose>0 0 -0.005 0 0 0</pose>
<mass>0.050</mass>
<inertia>
<ixx>0.00004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00004</iyy>
<iyz>0</iyz>
<izz>0.00004</izz>
</inertia>
</inertial>
<visual name="optical_flow/visual/housing">
<geometry>
<box>
<size>0.034 0.034 0.01</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.1 0.1 0.1 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
</material>
</visual>
<visual name="optical_flow/visual/lens">
<pose>0 0 -0.005 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.006</radius>
<length>0.005</length>
</cylinder>
</geometry>
</visual>
<visual name="optical_flow/visual/lens_glass">
<pose>0 0 -0.0075 0 0 0</pose>
<geometry>
<sphere>
<radius>0.0059</radius>
</sphere>
</geometry>
<material>
<ambient>.4 .4 .5 .95</ambient>
<diffuse>.4 .4 .5 .95</diffuse>
<specular>1 1 1 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
<sensor name="flow_camera" type="camera">
<pose>0 0 0 0 1.5707 0</pose>
<camera>
<horizontal_fov>0.733038</horizontal_fov>
<image>
<width>100</width>
<height>100</height>
</image>
<clip>
<near>0.1</near>
<far>30</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>50</update_rate>
<visualize>true</visualize>
</sensor>
<sensor name="optical_flow" type="custom" gz:type="optical_flow">
<always_on>1</always_on>
<update_rate>50</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>
</sdf>
11 changes: 11 additions & 0 deletions models/x500_flow/model.config
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<?xml version="1.0"?>
<model>
<name>x500_flow</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Jacob Dahl</name>
<email>jake@arkelectron.com</email>
</author>
<description>An x500 with distance sesnor and camera for optical flow</description>
</model>
72 changes: 72 additions & 0 deletions models/x500_flow/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='x500_flow'>
<self_collide>false</self_collide>
<include merge='true'>
<uri>x500</uri>
</include>
<include merge='true'>
<uri>model://optical_flow</uri>
<pose relative_to="base_link">0.03 0 -0.1 0 0 0</pose>
</include>
<include merge='true'>
<uri>model://LW20</uri>
<pose relative_to="base_link">0 0 -0.079 0 1.57 0</pose>
</include>
<joint name="optical_flow_joint" type="fixed">
<parent>base_link</parent>
<child>flow_link</child>
<pose relative_to="base_link">0 0 -0.1 0 1.5707 0</pose>
</joint>
<joint name="lidar_model_joint" type="fixed">
<parent>base_link</parent>
<child>lw20_link</child>
<pose relative_to="base_link">-0 0 0 0 0 0</pose>
</joint>
<joint name="lidar_sensor_joint" type="fixed">
<parent>base_link</parent>
<child>lidar_sensor_link</child>
</joint>
<link name="lidar_sensor_link">
<pose relative_to="base_link">0 0 -0.05 0 1.57 0</pose>
<inertial>
<mass>0.001</mass>
<inertia>
<ixx>0.00001</ixx>
<iyy>0.00001</iyy>
<izz>0.00001</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<sensor name='lidar' type='gpu_lidar'>
<pose>0 0 0 3.14 0 0</pose>
<update_rate>50</update_rate>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.1</min>
<max>100.0</max>
<resolution>0.01</resolution>
</range>
</ray>
<always_on>1</always_on>
<visualize>true</visualize>
</sensor>
</link>
</model>
</sdf>
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