Merge branch 'devel'

ctu-mrs · Nov 3, 2023 · 2afbdcf · 2afbdcf
2 parents 2badf59 + 5ba2320
commit 2afbdcf
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Showing 14 changed files with 368 additions and 31 deletions.
diff --git a/ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml b/ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml
@@ -28,6 +28,8 @@ enable_velodyne: [False, 'Add Velodyne PUCK Lite laser scanner to the vehicle',
 enable_ouster: [False, 'Add Ouster laser scanner to the vehicle', [f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
 ouster_model: ['OS1-16', 'Choose the Ouster model. Options: OS0-32, OS0-64, OS0-128, OS1-16, OS1-32G1, OS1-32, OS1-64, OS1-128, OS2-32, OS2-64, OS2-128', [f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
 use_gpu_ray: [False, 'Laser ray casting will be handled by GPU shaders', [f330, f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
+horizontal_samples: [None, 'Override default number of horizontal samples for LiDARs', [f450, f550, t650, x500, naki]]
+rotation_freq: [None, 'Override default update rate for LiDARs', [f450, f550, t650, x500, naki]]
 enable_light: [False, 'Add light to the vehicle', [f450, f550, t650, x500, naki]]
 enable_servo_camera: [False, 'Add camera on virtual servo to the vehicle', [f450, f550, t650, naki]]
 enable_water_gun: [False, 'Add water gun for fire fighting', [t650]]

diff --git a/.../mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja b/.../mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja
@@ -1501,7 +1501,20 @@ limitations under the License.
 <!--}-->
 
   <!-- Macro to add a RPlidar A3{-->
-{%- macro rplidar_macro(namespace, parent_link, x, y, z, roll, pitch, yaw) -%}
+{%- macro rplidar_macro(namespace, parent_link, horizontal_samples, rotation_freq, x, y, z, roll, pitch, yaw) -%}
+
+{% if horizontal_samples == 'None' %}
+  {%- set samples = 1600 -%}
+{% else %}
+  {%- set samples = horizontal_samples | int -%}
+{% endif %}
+
+{% if rotation_freq == 'None' %}
+  {%- set update_rate = 20 -%}
+{% else %}
+  {%- set update_rate = rotation_freq | int -%}
+{% endif %}
+
 <link name="rplidar_link">
   <pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
   {{ zero_inertial_macro() }}
@@ -1537,11 +1550,11 @@ limitations under the License.
   </visual>
   <sensor name='rplidar_sensor' type='ray'>
     <visualize>false</visualize>
-    <update_rate>20</update_rate>
+    <update_rate>{{ update_rate }}</update_rate>
     <ray>
       <scan>
         <horizontal>
-          <samples>{{ 14400/20 }}</samples>
+          <samples>{{ samples }}</samples>
           <resolution>1</resolution>
           <min_angle>-3.1241390751</min_angle>
           <max_angle>3.1241390751</max_angle>
@@ -1580,7 +1593,7 @@ limitations under the License.
 <!--}-->
 
 <!-- Macro to add a Velodyne Lidar {-->
-{%- macro velodyne_macro(namespace, parent_link, sensor_name, rot_freq, lasers, max_range, noise, vfov_angle, enable_gpu_ray, x, y, z, roll, pitch, yaw) -%}
+{%- macro velodyne_macro(namespace, parent_link, sensor_name, rotation_freq, lasers, max_range, noise, vfov_angle, enable_gpu_ray, horizontal_samples, x, y, z, roll, pitch, yaw) -%}
 
 {# The real ouster is transforming lidar data from lidar_frame to sensor_frame directly for user. #}
 {# For simplicity, we are placing sensor_frame to the same place as the lidar_frame is. #}
@@ -1612,6 +1625,18 @@ limitations under the License.
   {%- set sensor_type = "ray"  -%}
 {% endif %}
 
+{% if horizontal_samples == 'None' %}
+  {%- set samples = 3600 -%}
+{% else %}
+  {%- set samples = horizontal_samples | int -%}
+{% endif %}
+
+{% if rotation_freq == 'None' %}
+  {%- set update_rate = 20 -%}
+{% else %}
+  {%- set update_rate = rotation_freq | int -%}
+{% endif %}
+
 <link name="velodyne_link">
   <pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
   {{ zero_inertial_macro() }}
@@ -1664,11 +1689,11 @@ limitations under the License.
     <pose>{{ lidar_x }} {{ lidar_y }} {{ lidar_z }} {{ lidar_roll }} {{ lidar_pitch }} {{ lidar_yaw }}</pose>
     {# <pose>0 0 0 0 0 0</pose> #}
     <visualize>false</visualize>
-    <update_rate>{{ rot_freq }}</update_rate>
+    <update_rate>{{ update_rate }}</update_rate>
     <ray>
       <scan>
         <horizontal>
-          <samples>{{ 291200/(rot_freq*lasers) }}</samples>
+          <samples>{{ samples }}</samples>
           <resolution>1</resolution>
           <min_angle>{{ -rad180 }}</min_angle>
           <max_angle>{{ rad180 }}</max_angle>
@@ -1722,7 +1747,7 @@ limitations under the License.
 <!-- Macro to add an Ouster Lidar {-->
 
 <!-- Macro to add an Generic Ouster Lidar {-->
-{%- macro generic_ouster_macro(namespace, parent_link, sensor_name, rot_freq, lasers, max_range, noise, vfov_angle, enable_gpu_ray, x, y, z, roll, pitch, yaw) -%}
+{%- macro generic_ouster_macro(namespace, parent_link, sensor_name, rotation_freq, lasers, max_range, noise, vfov_angle, enable_gpu_ray, horizontal_samples, x, y, z, roll, pitch, yaw) -%}
 
 {# The real ouster is transforming lidar data from lidar_frame to sensor_frame directly for user. #}
 {# For simplicity, we are placing sensor_frame to the same place as the lidar_frame is. #}
@@ -1765,6 +1790,18 @@ limitations under the License.
   {%- set sensor_type = "ray"  -%}
 {% endif %}
 
+{% if horizontal_samples == 'None' %}
+  {%- set samples = 2048 -%}
+{% else %}
+  {%- set samples = horizontal_samples | int -%}
+{% endif %}
+
+{% if rotation_freq == 'None' %}
+  {%- set update_rate = 10 -%}
+{% else %}
+  {%- set update_rate = rotation_freq | int -%}
+{% endif %}
+
 <link name="{{ sensor_link }}">
   <pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
   {{ zero_inertial_macro() }}
@@ -1798,7 +1835,7 @@ limitations under the License.
       </script>
     </material>
   </visual>
-  
+
   {# IMU #}
   <sensor name="{{ sensor_name }}_imu_sensor" type="imu">
     <pose>{{ imu_x }} {{ imu_y }} {{ imu_z }} {{ imu_roll }} {{ imu_pitch }} {{ imu_yaw }}</pose>
@@ -1829,17 +1866,17 @@ limitations under the License.
   <!--   <headingGaussianNoise>0.005</headingGaussianNoise> -->
   <!-- </plugin> -->
   </sensor>
-  
+
   {# LIDAR #}
   <sensor name="{{ sensor_name }}_lidar_sensor" type="{{ sensor_type }}">
     <pose>{{ lidar_x }} {{ lidar_y }} {{ lidar_z }} {{ lidar_roll }} {{ lidar_pitch }} {{ lidar_yaw }}</pose>
     {# <pose>0 0 0 0 0 0</pose> #}
     <visualize>false</visualize>
-    <update_rate>{{ rot_freq }}</update_rate>
+    <update_rate>{{ update_rate }}</update_rate>
     <ray>
       <scan>
         <horizontal>
-          <samples>{{ 20480/rot_freq }}</samples>
+          <samples>{{ samples }}</samples>
           <resolution>1</resolution>
           <min_angle>0</min_angle>
           <max_angle>{{ 2*pi }}</max_angle>
@@ -1902,7 +1939,7 @@ limitations under the License.
 {%- endmacro -%}
 <!--}-->
 
-{%- macro ouster_macro(namespace, parent_link, sensor_name, ouster_model, rot_freq, noise, enable_gpu_ray, x, y, z, roll, pitch, yaw) -%}
+{%- macro ouster_macro(namespace, parent_link, sensor_name, ouster_model, rotation_freq, noise, enable_gpu_ray, horizontal_samples, x, y, z, roll, pitch, yaw) -%}
 
 <!-- Outster type selection {-->
 {#  default: OS1-16 Generation 1 - is specified in the config file #}
@@ -1993,12 +2030,13 @@ limitations under the License.
   namespace = namespace,
   parent_link = parent_link,
   sensor_name = sensor_name,
-  rot_freq = rot_freq,
+  rotation_freq = rotation_freq,
   lasers = lasers,
   vfov_angle = vfov_angle,
   max_range = range,
   noise = noise,
   enable_gpu_ray = enable_gpu_ray,
+  horizontal_samples = horizontal_samples,
   x = x,
   y = y,
   z = z,

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f450.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f450.sdf.jinja
@@ -857,6 +857,8 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
+      rotation_freq = rotation_freq,
       x = 0.0,
       y = 0.0,
       z = 0.1,
@@ -876,12 +878,13 @@
       namespace = namespace,
       parent_link = root,
       sensor_name = "velodyne",
-      rot_freq = 20,
+      rotation_freq = rotation_freq,
       lasers = 16,
       vfov_angle = 30,
       max_range = 100,
       noise = 0.01,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.066,
@@ -901,9 +904,10 @@
       parent_link = root,
       sensor_name = "os",
       ouster_model = ouster_model,
-      rot_freq = 10,
+      rotation_freq = rotation_freq,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.066,

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f550.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f550.sdf.jinja
@@ -1006,6 +1006,8 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
+      rotation_freq = rotation_freq,
       x = 0.0,
       y = 0.0,
       z = 0.1,
@@ -1025,12 +1027,13 @@
       namespace = namespace,
       parent_link = root,
       sensor_name = "velodyne",
-      rot_freq = 20,
+      rotation_freq = rotation_freq,
       lasers = 16,
       vfov_angle = 30,
       max_range = 100,
       noise = 0.01,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.066,
@@ -1050,9 +1053,10 @@
       parent_link = root,
       sensor_name = "os",
       ouster_model = ouster_model,
-      rot_freq = 10,
+      rotation_freq = rotation_freq,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.066,

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja
@@ -782,6 +782,8 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
+      rotation_freq = rotation_freq,
       x = 0.0,
       y = 0.0,
       z = 0.09,
@@ -801,9 +803,10 @@
       parent_link = root,
       sensor_name = "os",
       ouster_model = ouster_model,
-      rot_freq = 10,
+      rotation_freq = rotation_freq,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.0611,

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/t650.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/t650.sdf.jinja
@@ -213,7 +213,7 @@
         yaw = 0)
       }}
       <!--}-->
-      
+
       <!-- pixhawk {-->
       {{ components.visual_mesh_macro(
         name = "pixhawk",
@@ -392,7 +392,7 @@
       }}
       <!--}-->
       {% endif %}
-      
+
       {% if enable_rplidar or fire_challenge_blanket %}
       <!-- RPLidar mount {-->
       {{ components.visual_mesh_macro(
@@ -409,7 +409,7 @@
       }}
       <!--}-->
       {% endif %}
-     
+
       {% if enable_realsense_front %}
       <!-- Realsense mount {-->
       {{ components.visual_mesh_macro(
@@ -426,7 +426,7 @@
       }}
       <!--}-->
       {% endif %}
-     
+
       {% if enable_ouster or enable_velodyne %}
       <!-- Ouster mount {-->
       {{ components.visual_mesh_macro(
@@ -443,7 +443,7 @@
       }}
       <!--}-->
       {% endif %}
-     
+
       <!--}-->
     </link>
 
@@ -760,6 +760,8 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
+      rotation_freq = rotation_freq,
       x = 0.0,
       y = 0.0,
       z = 0.107,
@@ -779,12 +781,13 @@
       namespace = namespace,
       parent_link = root,
       sensor_name = "velodyne",
-      rot_freq = 20,
+      rotation_freq = rotation_freq,
       lasers = 16,
       vfov_angle = 30,
       max_range = 100,
       noise = 0.01,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.073,
@@ -804,9 +807,10 @@
       parent_link = root,
       sensor_name = "os",
       ouster_model = ouster_model,
-      rot_freq = 10,
+      rotation_freq = rotation_freq,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.073,
@@ -817,7 +821,7 @@
     <!--}-->
     {% endif %}
     {# <!--}--> #}
-    
+
     <!-- ========================= camera sensors ========================= -->
 
     <!-- Bluefox camera placements{-->
@@ -1269,10 +1273,10 @@
       yaw=-2.5665787)
     }}
     <!--}-->
-    
+
     <!--}-->
     {% endif %}
-    
+
     {% if fire_challenge_blanket %}
     <!-- fire_challenge_blanket {-->
 
@@ -1289,7 +1293,7 @@
       yaw = 0)
     }}
     <!--}-->
-    
+
     <!-- rplidar {-->
     {{ components.rplidar_macro(
       namespace = namespace,
@@ -1344,7 +1348,7 @@
       yaw = 0)
     }}
     <!--}-->
-    
+
     <!--}-->
     {% endif %}
     {# <!--}--> #}