Model submission for Karen ground robot sensor configuration 1 and 2 from Coordinated Robotics #815
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The initial assessment of the Coordinated Robotics Karen robot model is complete however there are some issues to resolve before this model can be merged and utilized in a competitive setting:
- Please add ROS to Ignition bridge nodes to the
vehicle_topics.launchfile for the barometer and magnetometer. - Please add optical frame publishers for the Arducam camera streams in the
vehicle_topics.launchfile. - The two RGB cameras in the
model.sdffile do not match the Arducam specs. Was the intent to simulate a single 185deg-FOV Arducam with 2 cameras? If so, recommend adjusting framerate and combined resolution to match the Arducam specs (25Hz @ 1920x1080 resolution) - Please provide validation data as it is necessary to complete the evaluation. If not provided, the model's maximum velocity will be limited to 1m/s and battery life set to 60min. When the model validation data can be provided later, please submit a PR updating the model.
Please address the issues noted above in this pull request. Once the above issues are fixed, your submission will move on to the next review stage!
submitted_models/coro_karen_sensor_config_1/launch/description.launch
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@acschang Thank you for reviewing. Bridges and optical frame publishers were added. I dropped the velocity limit to 1.0m/S until validation data is available and I believe the battery life is at 1 hour. I adjusted the lidar range and camera rates / resolutions based on your comments. I used 720x1080 for the camera resolutions. The intent was to replace the two cameras with four cameras that provide 360 degree horizontal coverage and sensor matching vertical coverage. I increased the vertical resolution to 1080 to match the sensor and adjusted the horizontal resolution to 720. This gets the vertical FOV roughly correct and matches the real sensor as the full 1080 is usable, the full 1920 is not usable with that lens. The description.launch now points at a urdf, but that urdf likely needs work (see #813) |
Thank you for the changes. It seems the only things outstanding for this model are the RViz |
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@acschang I believe the last two issues have been resolved. The battery life has been fixed and the optional description.launch has been disabled. |
nkoenig
changed the base branch from
master
to
submitted_models/coro_karen_sensor_config1_2
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Continued in #865 |
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@knoedler , would you be able to add a model.urdf or model.xacro for this robot? This would let us have a |
#865) * Add Coordinated Robotics Karen. Ackermann Steered Robot * Fix missing default and offset rgbd camera forward * Have description point to urdf * Adjust update rate and range * Adjust velocity limit to 1.0 until validation data available * Add compass/alt bridge, optical frame publishers * Adjust camera resolution per review comment * Wrong 100 was changed to 300, unique names * node fix * Disable description.launch / xacro / urdf * Fix incorrect battery life, fix incorrect velocity in config_2 * Model submission for Karen ground robot sensor configuration 1 and 2 from Coordinated Robotics (#815) * Add Coordinated Robotics Karen. Ackermann Steered Robot * Fix missing default and offset rgbd camera forward * Have description point to urdf * Adjust update rate and range * Adjust velocity limit to 1.0 until validation data available * Add compass/alt bridge, optical frame publishers * Adjust camera resolution per review comment * Wrong 100 was changed to 300, unique names * node fix * Disable description.launch / xacro / urdf * Fix incorrect battery life, fix incorrect velocity in config_2 Co-authored-by: Kevin <ak619@lafn.org> * Model updates * Added missing xacro * Aligned thermal camera range with the repository standard. * Thermal camera range of 100m Signed-off-by: Nate Koenig <nate@openrobotics.org> * fix color and transparency Signed-off-by: Nate Koenig <nate@openrobotics.org> * Removed wheel slip plugin Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Kevin <ak619@lafn.org> Co-authored-by: knoedler <knoedler@dslextreme.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Arthur Schang <arthur.c.schang2.ctr@mail.mil>
* Added Coordinated Robotics Allie model * Adjust D435 forward to avoid intermittent occlusion by visual, adjust rotation * Adjust breadcrumb drop location * Point to model.urdf rather than model.xacro * Add optical_frame_publisher for monocular cameras * Adjust camera resolution and ladar range per comments on #815 * Adjust camera update rate to match spec * Address review comments * Disable description.launch / xacro / urdf * Update based on endurance test v2 * Resolved issues with RViz visualization. Co-authored-by: Kevin <ak619@lafn.org>
This is a four wheel robot with Ackermann type steering based on our "Karen" robot.