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Sensor and model plugins for Gazebo

Rangefinder plugin

Modified version from the gazebo_plugins: gazebo_ros_range.cpp

Description

  • Simulate rangefinder sensor in Gazebo
  • The original plugin has been extended to publish tranform message on topic /tf_gazebo_static. To make this transformation visible in ROS use our Static transform republisher plugin in your world definition.

Usage

After building, activate by adding the following to your robot definition.

  ...
    <plugin name='mrs_gazebo_rangefinder' filename='libMRSGazeboRangefinderPlugin.so'>
      <updateRate>${frame_rate}</updateRate>
      <topicName>${topic}</topicName>
      <parentFrameName>${parent_frame_name}</parentFrameName>
      <frameName>${rangefinder_frame_name}</frameName>
      <gaussianNoise>${noise}</gaussianNoise>
      <fov>${fov}</fov>
      <radiation>${radiation}</radiation>
      <alwaysOn>true</alwaysOn>
      <x>${x}</x>
      <y>${y}</y>
      <z>${z}</z>
      <roll>${roll}</roll>
      <pitch>${pitch}</pitch>
      <yaw>${yaw}</yaw>
    </plugin>
  ...

2D lidar plugin

Modified version from the gazebo_plugins: gazebo_ros_laser.cpp

Description

  • Simulates a 2D lidar sensor in Gazebo.
  • The original plugin has been extended to publish tranform message on topic /tf_gazebo_static. To make this transformation visible in ROS use our Static transform republisher plugin in your world definition.

Usage

After building, activate by adding the following to your robot definition.

  ...
    <plugin name='mrs_gazebo_2dlidar' filename='libMRSGazebo2DLidarPlugin.so'>
      <topicName>${topic_name}</topicName>
      <frameName>${frame_name}</frameName>
      <parentFrameName>${parent_frame_name}</parentFrameName>
      <x>${x}</x>
      <y>${y}</y>
      <z>${z}</z>
      <roll>${roll}</roll>
      <pitch>${pitch}</pitch>
      <yaw>${yaw}</yaw>
    </plugin>
  ...

3D lidar plugin

Modified version of the canonical Velodyne/Ouster Gazebo plugins.

Description

  • Simulates a 3D lidar sensor in Gazebo.
  • The original plugin has been extended to publish tranform message on topic /tf_gazebo_static. To make this transformation visible in ROS use our Static transform republisher plugin in your world definition.
  • An IMU may be also enabled to simulate sensors such as the Ouster OSx with integrated IMU.
  • Optimized the plugin to remove bottlenecks, causing RT factor drops.

Usage

For example usage, see the Ouster section in component_snippets.xacro.

Maintainer

For questions, pull-requests, bug reporting etc., please use the related Git page or contact the maintainer directly at vrbamato@fel.cvut.cz.

GPS plugin

Modified version from the sitl_gazebo: gazebo_gps_plugin.cpp

Description

  • Publishes GPS and Groundtruth data using gazebo msgs for the PX4 firmware.

  • The home position can be specified using the environment variables PX4_HOME_LAT, PX4_HOME_LON, and PX4_HOME_ALT.

    ## For example: Zurich Irchel Park gps coordinates = '47.397742° N, 8.545594° E, and 488 m altitude'
PI=$(echo "scale=10; 4*a(1)" | bc -l)
export PX4_HOME_LAT=$((47.397742 * PI / 180.0))  # rad
export PX4_HOME_LON=$((8.545594 * PI / 180.0))   # rad
export PX4_HOME_ALT=488.0;                       # meters

  • The original plugin has been extended to enable gps jamming inside of building (parameter ${gps_indoor_jamming} has to be boolean).

Usage

After building, activate by adding the following to your robot definition.

  ...
    <plugin name="gps_plugin" filename="libMRSGazeboGPSPlugin.so">
      <robotNamespace>${namespace}</robotNamespace>
      <gpsNoise>${gps_noise}</gpsNoise>
      <indoorJamming>${gps_indoor_jamming}</indoorJamming>
    </plugin>
  ...

Camera plugin

Modified version from the gazebo_plugins: gazebo_ros_camera.cpp

Description

  • Simulates a camera sensor in Gazebo.
  • The original plugin has been extended to publish tranform message on topic /tf_gazebo_static. To make this transformation visible in ROS use our Static transform republisher plugin in your world definition.

Usage

After building, activate by adding the following to your robot definition.

  ...
    <plugin name='mrs_gazebo_camera' filename='libMRSGazeboCameraPlugin.so'>
      <alwaysOn>true</alwaysOn>
      <updateRate>${frame_rate}</updateRate>
      <cameraName>${camera_suffix}</cameraName>
      <imageTopicName>image_raw</imageTopicName>
      <cameraInfoTopicName>camera_info</cameraInfoTopicName>
      <frameName>/${camera_frame_name}</frameName>
      <parentFrameName>${parent_frame_name}</parentFrameName>
      <sensorBaseFrameName>${sensor_base_frame_name}</sensorBaseFrameName>
      <x>${x}</x>
      <y>${y}</y>
      <z>${z}</z>
      <roll>${roll}</roll>
      <pitch>${pitch}</pitch>
      <yaw>${yaw}</yaw>
    </plugin>
  ...

Realsense plugin

Modified version of the official Realsense Gazebo plugin from Intel

Description

  • Simulates a Realsense D435 RGB-D camera sensor in Gazebo.
  • The original plugin has been extended to publish tranform message on topic /tf_gazebo_static. To make this transformation visible in ROS use our Static transform republisher plugin in your world definition.
  • A "realistic" mode with more noise and virtually reduced resolution may be activated using the useRealistic flag in the SDF.

Usage

After building, activate by adding the following to your robot definition.

  ...
    <plugin name="mrs_gazebo_realsense" filename="libMRSGazeboRealsensePlugin.so">
      <useRealistic>${enable_realistic_realsense}</useRealistic>
      <noisePerMeter>0.2</noisePerMeter>
      <minNoiseDistance>4.0</minNoiseDistance>
      <perlinEmptyThreshold>0.8</perlinEmptyThreshold>
      <perlinEmptySpeed>0.2</perlinEmptySpeed>
      <imageScaling>4</imageScaling>
      <blurSize>15</blurSize>
      <erosionSize>5</erosionSize>
      <parentFrameName>${parent_frame_name}</parentFrameName>
      <x>${x}</x>
      <y>${y}</y>
      <z>${z}</z>
      <roll>${roll}</roll>
      <pitch>${pitch}</pitch>
      <yaw>${yaw}</yaw>
    </plugin>
  ...

Servo camera plugin

Description

  • Simulates camera with adjustable pitch and roll angle. The plugin enables to control 2 revolute joints simulating 2-axis gimbal. The plugin requests references to existing links and joints that should be controlled.

Usage

After building, activate by adding the following to your robot definition.

  ...
    <gazebo>
      <plugin name="servo_camera_plugin" filename="libMRSGazeboServoCameraPlugin.so">
        <tilt_update_rate>${tilt_update_rate}</tilt_update_rate>
        <max_pitch_rate>${max_pitch_rate}</max_pitch_rate>
        <max_pitch>${max_pitch}</max_pitch>
        <min_pitch>${min_pitch}</min_pitch>
        <max_roll_rate>${max_roll_rate}</max_roll_rate>
        <max_roll>${max_roll}</max_roll>
        <min_roll>${min_roll}</min_roll>
        <joint_name_pitch>${namespace}_servo_camera_joint_pitch</joint_name_pitch>
        <joint_name_roll>${namespace}_servo_camera_joint_roll</joint_name_roll>
        <parent_link_pitch>${namespace}_servo_camera_gimbal_link</parent_link_pitch>
        <parent_link_roll>${parent}</parent_link_roll>
        <compensate_tilt_roll>${compensate_tilt_roll}</compensate_tilt_roll>
        <compensate_tilt_pitch>${compensate_tilt_pitch}</compensate_tilt_pitch>
      </plugin>
    </gazebo>
  ...

Complete example of usage including creating links and joints can be found in MRS robots description file.

The angle can be set by publishing desired camera angle on topic /uav_name/servo_camera/set_orientation of type std_msgs/Float32MultiArray, where first element of array is required roll angle and second element is required pitch angle, e.g.

rostopic pub /uav_name/servo_camera/desired_orientation std_msgs/Float32MultiArray 
"layout:
   dim:
     label: ''
     size: 2
     stride: 0
   data_offset: 0
 data: [0.0, 0.5]"

The per axis tilt compensation simulating camera stabilization can be activated and deactivated by calling service /uav_name/servo_camera/compensate_tilt_roll or /uav_name/servo_camera/compensate_tilt_pitch, e.g.

rosservice call /uav1/servo_camera/compensate_tilt_roll "data: true"

The camera image is published on topic /uav_name/servo_camera/image_raw.

Light plugin

Description

  • Simulate light with adjustable pitch angle mounted on the robot's frame

Usage

After building, activate by adding the following to your robot definition.

  ...
    <joint name="${name}_joint" type="revolute">
        <parent link="${parent}"/>
        <child link="${name}_link"/>
        <axis xyz="0 1 0"/>
        <dynamics damping="0.05" friction="0.05"/>
        <limit upper="1.57" lower="-1.57" effort="1" velocity="10" />
        <origin xyz="${offset_x} ${offset_y} ${offset_z}" rpy="0.0 0.0 0.0"/>
    </joint>
    <link name="${name}_link">
        <inertial>
            <mass value="1e-3" />
            <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="1e-5" iyz="0.0" izz="1e-5"/>
        </inertial>
      <visual>
        <geometry>
          <box size="0.01 0.01 0.01" />
        </geometry>
      </visual>
    </link>
    <gazebo>
      <plugin name="light_gazebo_plugin" filename="libMRSGazeboLightPlugin.so">
        <offset_x>${offset_x}</offset_x>
        <offset_y>${offset_y}</offset_y>
        <offset_z>${offset_z}</offset_z>
        <offset_pitch>${offset_pitch}</offset_pitch>
        <offset_yaw>${offset_yaw}</offset_yaw>
        <offset_roll>${offset_roll}</offset_roll>
        <spawning_frame>${parent}</spawning_frame>
        <update_rate>${update_rate}</update_rate>
        <max_pitch_rate>${max_pitch_rate}</max_pitch_rate>
        <initial_on>${initial_on}</initial_on>
        <compensate_tilt>${compensate_tilt}</compensate_tilt>
      </plugin>
    </gazebo>
  ...

The angle of light can be set by publishing desired angle on topic /uav_name/light/set_pitch, e.g.

rostopic pub /uav1/light/set_pitch std_msgs/Float32 "data: 1.0"

The light can be activated and deactivated by calling service

rosservice call /uav1/light/trigger 1/0

The tilt compensation simulating perfect light stabilization can be activated and deactivated by calling service /uav_name/light/compensate_tilt, e.g.

rosservice call /uav1/light/compensate_tilt "data: true"

Dynamic model plugin

Description

  • Moves a model along predefined trajectory and publishes its current pose

Usage

After building, activate by adding the following to your model definition.

  ...
    <plugin name="dynamic_target_plugin" filename="libMRSGazeboDynamicModelPlugin.so">
      <update_rate>30</update_rate>
      <initial_on>true</initial_on>
      <trajectory_file>path_to_trajectory.txt</trajectory_file>
      <loop_enabled>true</loop_enabled>
      <use_segmentation>true</use_segmentation>
      <use_directional_yaw>true</use_directional_yaw>
    </plugin>
  ...

The motion of the model can be activated and deactivated by calling service

rosservice call /gazebo/dynamic_model/model_name/activate 1/0

reset to initial position of trajectory by calling service

rosservice call /gazebo/dynamic_model/model_name/reset

The trajectory file can be loaded by publishing path to trajectory file on topic /gazebo/dynamic_model/model_name/load_map.

The trajectory is defined by sequence of tuples "x y z roll pitch yaw velocity", where each tuple is located on a seperate line e.g.

  ...
  9.7 2.4 0.0 0.0 0.0 0.0 0.5
  9.6 2.7 0.0 0.0 0.0 1.0 0.5
  9.5 3.0 0.0 0.0 0.0 2.0 0.5
  9.3 3.4 0.0 0.0 0.0 3.0 0.5
  ...

Parachute plugin

Description

  • Adds a deployable emergency parachute to the attached model. WHen packed, it appears as a cylinder.
  • Modifies the physics of attached model to significantly increase its drag and dampens the falling velocity.

Usage

After building, activate by adding the following to your robot definition.

  ...
  <plugin name="parachute_plugin" filename="libMRSGazeboParachutePlugin.so">
    <air_density>1.225</air_density>
    <drag_coeff>500</drag_coeff>
    <cross_section>0.25</cross_section> <!-- [m^2] -->
    <offset_x>0</offset_x>
    <offset_y>0</offset_y>
    <offset_z>-1.56</offset_z>
  </plugin>
  ...

Control the parachute by provided trigger services

rosservice call /<parent_model_name>/parachute/deploy

rosservice call /<parent_model_name>/parachute/reset

Water gun plugin

Description

  • Adds a water tank to the model. On activation, the tank will spray spherical particles with a force taken from xml parameters.

Usage

After building, activate by adding the following to your robot definition.

  ...
  <plugin name="water_gun_plugin" filename="libMRSGazeboWaterGunPlugin.so">
    <muzzle_velocity>${muzzle_velocity}</muzzle_velocity>
    <offset_x>${offset_x}</offset_x>
    <offset_y>${offset_y}</offset_y>
    <offset_z>${offset_z}</offset_z>
    <spread>${spread}</spread>
    <particle_capacity>${particle_capacity}</particle_capacity>
    <spawning_reservoir>${spawning_reservoir}</spawning_reservoir>
  </plugin>
  ...

The water gun can be activated by the following service, which will cause it to spray particles infinetly.

rosservice call /<parent_model_name>/water_gun/start

To stop the spraying, call the stopping service.

rosservice call /<parent_model_name>/water_gun/start

If you wish to remove all water particles from the scene, use the following service.

rosservice call /<parent_model_name>/water_gun/cleanup

Safety LED plugin

Inspired by gazebo11/plugins: FlashLightPlugin and LedPlugin.

Description

  • Attaches an RGB LED with a topic-settable color to the model.
  • It subscribes to a heartbeat topic /<parent_model_name>/safety_led/heartbeat of type std_msgs/ColorRGBA and changes the light color to the message value (transparency is supported).
  • Switches back to the default color (red) if heartbeat messages do not arrive within <failure_duration_threshold> seconds.

Usage

After building, activate by adding the following to your robot definition.

  ...
    <joint name="${name}_joint" type="fixed">
      <origin xyz="${x} ${y} ${z}" rpy="${roll} ${pitch} ${yaw}" />
      <parent link="${parent}" />
      <child link="${name}_link" />
    </joint>
    <link name="${name}_link" >
    </link>
    <gazebo>
      <plugin name="safety_led_plugin" filename="libMRSSafetyLedPlugin.so">
        <model_name>safety_led</model_name>
        <failure_duration_threshold>${failure_duration_threshold}</failure_duration_threshold>
        <model_spawn_delay>${model_spawn_delay}</model_spawn_delay>
        <x>${x}</x>
        <y>${y}</y>
        <z>${z}</z>
        <roll>${roll}</roll>
        <pitch>${pitch}</pitch>
        <yaw>${yaw}</yaw>
      </plugin>
    </gazebo>
  ...