Depth Camera Visualization

src/description/urdf/athena_drive.urdf.xacro

@@ -49,9 +49,9 @@
   </xacro:gps_sensor>
 
   <xacro:ground_truth_odometry robot_base_frame="base_footprint"/>
-
-  <xacro:depth_camera parent_link="base_link"> 
-      <origin xyz="0.75 0 -0.37" rpy="0 0 0"/> 
+ 
+  <xacro:depth_camera parent="base_footprint"> 
+      <origin xyz="0.0 0.0 0.1" rpy="0 0 0"/>
   </xacro:depth_camera>
 
   <xacro:if value="$(arg use_mock_hardware)">

src/description/urdf/depth_camera.xacro

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="depth_camera" params="parent_link *origin">
+  <xacro:macro name="depth_camera" params="parent *origin">
     <link name="depth_camera_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -18,20 +18,13 @@
           <box size="0.025 0.09 0.025"/>
         </geometry>
       </collision>
-      <inertial>
-        <mass value="0.072"/>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <inertia ixx="0.00001" ixy="0.0" ixz="0.0"
-                 iyy="0.00001" iyz="0.0"
-                 izz="0.00001"/>
-      </inertial>
     </link>
 
     <link name="depth_camera_optical_frame"/>
 
     <joint name="depth_camera_joint" type="fixed">
       <xacro:insert_block name="origin"/>
-      <parent link="${parent_link}"/>
+      <parent link="${parent}"/>
       <child link="depth_camera_link"/>
     </joint>
 
@@ -42,12 +35,13 @@
     </joint>
 
     <gazebo reference="depth_camera_link">
-      <sensor name="depth_camera" type="depth_camera">
+      <sensor name="depth_camera" type="depth">
         <always_on>1</always_on>
-        <update_rate>30</update_rate>
+        <update_rate>10</update_rate>
+        <visualize>true</visualize>
         <topic>depth_camera</topic>
         <camera name="depth_camera">
-          <horizontal_fov>1.047198</horizontal_fov>
+          <horizontal_fov>1.05</horizontal_fov>
           <image>
             <width>640</width>
             <height>480</height>
@@ -57,8 +51,11 @@
             <near>0.1</near>
             <far>10.0</far>
           </clip>
+          <depth_camera>
+	      	<output>points</output>
+	      </depth_camera>
         </camera>
-        <plugin filename="libgz-sim-sensors-system.so" name="gz::sim::systems::Sensors">
+        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
           <render_engine>ogre2</render_engine>
         </plugin>
       </sensor>

src/simulation/launch/bridge.launch.py

@@ -29,8 +29,8 @@ def generate_launch_description():
             name='depth_camera_bridge',
             output='screen',
             arguments=[
-                '/depth_camera@sensor_msgs/msg/Image[ignition.msgs.Image',
-                '/depth_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked',
+                '/depth_camera@sensor_msgs/msg/Image@gz.msgs.Image',
+                '/depth_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked',
             ],
         ),
 

src/simulation/launch/bringup.launch.py

@@ -40,13 +40,19 @@
         choices=['true', 'false'],
         description='Publish ground truth odom -> base_link transform'
     ),
+    DeclareLaunchArgument(
+    	'rqt', 
+        default_value='false',
+        choices=['true', 'false'],
+        description='Open RQt.'
+    ),
 ]
 
 def generate_launch_description():
     pkg_sim = get_package_share_directory('simulation')
 
     gazebo_launch = PathJoinSubstitution(
-        [pkg_sim, 'launch', 'gz_sim.launch.py'])
+        [pkg_sim, 'launch', 'gz_sim.launch.py'])	
     robot_spawn_launch = PathJoinSubstitution(
         [pkg_sim, 'launch', 'spawn.launch.py'])
     bridge_launch = PathJoinSubstitution(
@@ -93,4 +99,4 @@ def generate_launch_description():
     ld.add_action(bridge)
     ld.add_action(control)
     ld.add_action(ground_truth_tf)
-    return ld
+    return ld

src/simulation/launch/spawn.launch.py

@@ -11,11 +11,16 @@
     DeclareLaunchArgument('rviz', default_value='false',
                           choices=['true', 'false'],
                           description='Start rviz.'),
+    DeclareLaunchArgument('rqt', default_value='false',
+                          description='Open RQt.'),
+    DeclareLaunchArgument('image_topic', default_value='/depth_camera',
+                          description='Topic to start viewing in RQt.'),
     DeclareLaunchArgument('use_sim_time', default_value='true',
                           choices=['true', 'false'],
                           description='use_sim_time'),
     DeclareLaunchArgument('namespace', default_value='',
                           description='Robot namespace'),
+
 
 ]
 
@@ -70,10 +75,19 @@ def generate_launch_description():
             executable='rviz2',
             name='rviz2',
             output='screen',
-            condition=conditions.IfCondition(LaunchConfiguration('rviz'))
+            condition=conditions.IfCondition(LaunchConfiguration('rviz')),
+            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}]
+        ),
+
+        Node(
+            package='rqt_image_view',
+            executable='rqt_image_view',
+            name='rqt',
+            arguments=[LaunchConfiguration('image_topic')],
+            condition=conditions.IfCondition(LaunchConfiguration('rqt'))
         ),
     ])
 
     ld = LaunchDescription(ARGUMENTS)
     ld.add_action(spawn_robot_group_action)
-    return ld
+    return ld