Pr vision cam #180

EliaTarasov · 2018-02-05T08:51:31Z

This pr adds vision cam model to be able to test external vision without internal vision plugin (for example by using ROS).

TSC21 · 2018-02-05T23:17:41Z

models/vision_cam/model.sdf

+            <stddev>0.001</stddev>
+          </noise>
+        </camera>
+        <plugin name="svo_plugin" filename="libgazebo_ros_camera.so">


svo_plugin?

I've tested this model with external vision library which is called svo: https://github.com/uzh-rpg/rpg_svo. But it's up to user what name for plugin is preffered. We may call it vision_plugin.

TSC21 · 2018-02-10T12:50:18Z

models/vision_cam/model.sdf

+          </noise>
+        </camera>
+        <plugin name="vision_cam_plugin" filename="libgazebo_ros_camera.so">
+	  <alwaysOn>true</alwaysOn>


The indentation is 2 whitespaces.

TSC21 · 2018-02-10T12:51:07Z

@EliaTarasov can you explain and exemplify why is this required and how can it be used? This should also be documented on the PX4 Devguide.

EliaTarasov · 2018-02-10T21:33:15Z

@TSC21
Explanation:
Currently the way we use vision pose estimation (vision plugin) is:

We get an aircraft's world position and attitude from gazebo.
We add white noise and random walk for "vision sensor".
Send this to px4.

So here vision works always ok and we can't do much testing.
On the contrary, optical flow plugin allows us to actually test how real optical flow camera(PX4 Flow or other cam) would work if for example:

We attach it to aircraft with different orientation.
We attach gyro on that cam with different orientation.
We choose ground plane not quite enough textured.
We choose camera rate too high or to low.

So overall, optical flow plugin allows us to test some important math stuff behind.
What i want to add is the same capability for vision.

Example:
There is good enough ROS visual odometry library SVO and it works well both in sim and real tests.

TSC21 · 2018-02-10T21:36:38Z

I see the point. But then I guess it makes sense to actually generalize this for other models by adding a sdf element to select the src for vision estimation (Gazebo itself or an external estimator).

EliaTarasov · 2018-02-10T21:47:11Z

Generalization looks better of course. Does it make sense to implement this sdf element on current commit?

TSC21 · 2018-02-10T21:51:15Z

Yes I don't see a problem

EliaTarasov · 2018-02-11T19:45:08Z

I've added <vision_source> tag into gazebo vision plugin: branch
Solution looks somewhat awkward since plugin is loaded but not used if <vision_source> is "external".
Is it the way it should be done?

TSC21 · 2018-02-12T21:45:50Z

Solution looks somewhat awkward since plugin is loaded but not used if <vision_source> is "external".

That's the point. If the vision source is external, that means that the vision plugin does not have to start, since there is another vision source producing and publishing data to gazebo_mavlink_interface.

EliaTarasov · 2018-02-13T06:42:08Z

If the vision source is external, that means that the vision plugin does not have to start, since there is another vision source producing and publishing data to gazebo_mavlink_interface.

That's true.
The only solution that comes to mind is to add one additional external_vision_plugin which would have a tag like <visionPoseTopic> and it would somehow handle (maybe just remap) data before sending it to gazebo_mavlink_interface.
This looks redundant, but logical.
Is it worth to implement?

- since the airspeed axis is different for tailsitters we need to know if the vehicle is a tailsitter or not Signed-off-by: Roman <bapstroman@gmail.com>

Signed-off-by: Roman <bapstroman@gmail.com>

TSC21 · 2018-02-13T19:12:06Z

The only solution that comes to mind is to add one additional external_vision_plugin which would have a tag like <visionPoseTopic> and it would somehow handle (maybe just remap) data before sending it to gazebo_mavlink_interface.

That makes sense to me. Can you implement and commit? Thanks

This implements the Basic Camera Operations described by the Camera Protocol Documentation: https://mavlink.io/en/protocol/camera.html Only the very basic commands are implemented, providing image capture only (no video capture). Within the basic set of messages, all messages are implemented as well as all behaviors. This "camera" component handles its own UDP "link" with the GCS. It emits its own heartbeats, and handles all the camera related communication between the GCS and the camera.

EliaTarasov · 2018-02-21T10:24:43Z

@TSC21 I did some research regarding last conversation and found that Gazebo vision topic cannot be easily filled by external vision subsystem's output. Basically we have two options:

External vision plugin have to subscribe/advertise some external vision (e.g. Ros) topic.
External vision subsystem (e.g. Ros) have to subscribe/advertise some Gazebo topic.

First option's drawback is that plugin's code become directly dependent on Ros which is not good for users want to use gazebo sim without Ros.
Second option's drawback is that user have to add some code relates to Gazebo inside external vision subsystem.

I think these two drawback are too much to be handled in master and now i work on integration of vision library directly into sitl_gazebo code (the way Optical Flow now works).
I'm not sure about three things:

Is it acceptable to add some additional code which is large enough.
How to handle additional repos for this library automatically during px4 firmware build.
When i finish this branch.

So for now i would suggest to close this pr as it is not completely solve the original task.

TSC21 · 2018-02-21T23:06:53Z

@EliaTarasov additional repos may represent a problem because of the licensing and we actually want to not depend on any kind of other repo. The PR itself should be generic in a way we don't need to rely on any other dependency and, at all. depend on ROS (unless the CMake option BUILD_ROS_INTERFACE is set to ON).

Signed-off-by: Roman <bapstroman@gmail.com>

- handling of the various actuation joints is handled via channels specified in the sdf file of the model Signed-off-by: Roman <bapstroman@gmail.com>

- this was causing unrealistically high side force when the vehicle was turning and producing sideslip, as a result the vehicle would hardly turn Signed-off-by: Roman <bapstroman@gmail.com>

…azebo into pr-vision_cam

TSC21 · 2018-03-02T18:34:24Z

@EliaTarasov you need to rebase this.

EliaTarasov · 2018-03-07T15:35:07Z

Closed as it was found not suitable for the task.

EliaTarasov and others added 4 commits February 5, 2018 11:41

add vision cam for ros external vision

3206f15

add iris_vision model explicitly

eaf34c5

change magnetic field tag values to pass travis parser

e34edf1

Gazebo: Fix image trigger feedback

37370e5

TSC21 reviewed Feb 5, 2018

View reviewed changes

EliaTarasov and others added 2 commits February 6, 2018 10:46

choose consistent name for plugin

ebb19c6

change range finder topic to be independent of model

6d49cbf

TSC21 approved these changes Feb 9, 2018

View reviewed changes

TSC21 reviewed Feb 10, 2018

View reviewed changes

fix indentation

fdea94f

Update model.sdf

a1b65cf

RomanBapst added 4 commits February 13, 2018 13:02

mavlink_interface: added flag to indicate tailsitter

db52b67

- since the airspeed axis is different for tailsitters we need to know if the vehicle is a tailsitter or not Signed-off-by: Roman <bapstroman@gmail.com>

mavlink_interface.h: added some missing initialisations

8af7a85

Signed-off-by: Roman <bapstroman@gmail.com>

tailsitter.sdf: set vehicle_is_tailsitter flag

844b989

Signed-off-by: Roman <bapstroman@gmail.com>

updated xacro template to include vehicle_is_tailsitter flag

74d0a2d

Signed-off-by: Roman <bapstroman@gmail.com>

dogmaphobic and others added 3 commits February 19, 2018 11:23

travis: exit on failure using bash -e

bf2fe28

gazebo_geotagged_images_plugin: fix build error

84e14e2

added a model for a quad tiltrotor

06161d0

Signed-off-by: Roman <bapstroman@gmail.com>

RomanBapst and others added 10 commits February 22, 2018 20:02

gazebo_mavlink_interface: removed lots of obsolete code

51fd831

- handling of the various actuation joints is handled via channels specified in the sdf file of the model Signed-off-by: Roman <bapstroman@gmail.com>

lidar plugin: fix ambiguity problem for isinf() when using c++11

8449fec

tiltrotor model: reduce rotor drag coefficient:

90c9e5d

- this was causing unrealistically high side force when the vehicle was turning and producing sideslip, as a result the vehicle would hardly turn Signed-off-by: Roman <bapstroman@gmail.com>

add vision cam for ros external vision

7a70527

add iris_vision model explicitly

a83288d

change magnetic field tag values to pass travis parser

8175233

choose consistent name for plugin

3b09a1e

fix indentation

0c0fb9a

Update model.sdf

0f2b7c5

Merge branch 'pr-vision_cam' of https://github.com/EliaTarasov/sitl_g…

d14a3c5

…azebo into pr-vision_cam

EliaTarasov closed this Mar 7, 2018

EliaTarasov mentioned this pull request Mar 12, 2018

Add Vision repo similar to OpticalFlow #190

Closed

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Pr vision cam #180

Pr vision cam #180

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Pr vision cam #180

Pr vision cam #180

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