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gazebo_static_camera: add static transform publisher (#175) #176

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Sep 5, 2024
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gazebo_static_camera: add static transform publisher (#175) #176

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52 changes: 14 additions & 38 deletions scenario_execution_ros/scenario_execution_ros/actions/tf_close_to.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@
import py_trees
from py_trees.common import Status
from visualization_msgs.msg import Marker
from geometry_msgs.msg import PoseStamped

from tf2_ros.buffer import Buffer
from tf2_ros import TransformException # pylint: disable= no-name-in-module
Expand Down Expand Up @@ -88,6 +87,8 @@ def setup(self, **kwargs):
self.name, self.__class__.__name__
)
raise ActionError(error_message, action=self) from e

self.reference_point = (float(self.reference_point['x']), float(self.reference_point['y']))
self.feedback_message = f"Waiting for transform map --> base_link" # pylint: disable= attribute-defined-outside-init
self.tf_buffer = Buffer()
tf_prefix = self.namespace
Expand All @@ -110,20 +111,20 @@ def setup(self, **kwargs):
marker.color.r = 0.5
marker.color.g = 0.5
marker.color.b = 0.5
marker.pose.position.x = self.reference_point['x']
marker.pose.position.y = self.reference_point['y']
marker.pose.position.x = self.reference_point[0]
marker.pose.position.y = self.reference_point[1]
marker.pose.position.z = 0.0
self.marker_id = self.marker_handler.add_marker(marker)

def update(self) -> py_trees.common.Status:
"""
Check if the subscriber already received the right msg while ticking
"""
robot_pose, success = self.get_robot_pose_from_tf()
translation, success = self.get_translation_from_tf()
if not success:
self.feedback_message = f"the pose of {self.robot_frame_id} could not be retrieved from tf" # pylint: disable= attribute-defined-outside-init
return Status.RUNNING
dist = self.euclidean_dist(robot_pose.pose.position)
dist = self.euclidean_dist(translation)
marker = self.marker_handler.get_marker(self.marker_id)
self.success = dist <= self.threshold
if self.success:
Expand All @@ -141,43 +142,18 @@ def update(self) -> py_trees.common.Status:
self.marker_handler.update_marker(self.marker_id, marker)
return Status.RUNNING

def get_robot_pose_from_tf(self):
'''
function to get pose of the robot (i.e., the base_link frame) with
respect to the map frame via tf

returns:
pose: pose of the robot in the map frame
'''
pose = PoseStamped()
when = self.node.get_clock().now()
if self.sim:
when = rclpy.time.Time()
def get_translation_from_tf(self):
t = None
try:
t = self.tf_buffer.lookup_transform(
'map',
self.robot_frame_id,
when,
timeout=rclpy.duration.Duration(seconds=1.0),
)
t = self.tf_buffer.lookup_transform('map', self.robot_frame_id, rclpy.time.Time())
self.feedback_message = f"Transform map -> base_link got available." # pylint: disable= attribute-defined-outside-init
except TransformException as ex:
except TransformException as e:
self.feedback_message = f"Could not transform map to base_link" # pylint: disable= attribute-defined-outside-init
self.node.get_logger().warn(
f'Could not transform map to base_link at time {when}: {ex}')
return pose, False

pose.header = t.header
pose.header.frame_id = 'map'

pose.pose.position.x = t.transform.translation.x
pose.pose.position.y = t.transform.translation.y
pose.pose.orientation.x = t.transform.rotation.x
pose.pose.orientation.y = t.transform.rotation.y
pose.pose.orientation.z = t.transform.rotation.z
pose.pose.orientation.w = t.transform.rotation.w
f'Could not transform map to base_link: {e}')
return None, False

return pose, True
return t.transform.translation, True

def euclidean_dist(self, pos):
'''
Expand All @@ -189,7 +165,7 @@ def euclidean_dist(self, pos):
return:
Euclidean distance in float
'''
return sqrt((self.reference_point['x'] - pos.x) ** 2 + (self.reference_point['y'] - pos.y) ** 2)
return sqrt((self.reference_point[0] - pos.x) ** 2 + (self.reference_point[1] - pos.y) ** 2)

def shutdown(self):
self.marker_handler.remove_markers([self.marker_id])
Expand Down
22 changes: 21 additions & 1 deletion simulation/gazebo/gazebo_static_camera/launch/spawn_static_camera_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,11 +93,31 @@ def generate_launch_description():
'-Y', yaw,
'-param', 'robot_description'],
parameters=[{
'robot_description': Command(['xacro ', 'update_rate:=', update_rate, ' image_width:=', image_width, ' image_height:=', image_height, ' ', PathJoinSubstitution([gazebo_static_camera_dir, "models", "camera.sdf.xacro"])])}],
'robot_description': Command(['xacro ', 'update_rate:=', update_rate, ' image_width:=', image_width, ' image_height:=', image_height, ' camera_name:=', camera_name, ' ', PathJoinSubstitution([gazebo_static_camera_dir, "models", "camera.sdf.xacro"])])}],
output='screen'
)

static_transform = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='static_camera_transform',
arguments=['--x', x, '--y', y, '--z', z, '--roll', roll, '--pitch', pitch,
'--yaw', yaw, '--frame-id', '/map', '--child-frame-id', camera_name],
remappings=[('/tf_static', 'tf_static')],
)

static_transform_2 = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='static_camera_transform_2',
arguments=['--x', '0', '--y', '0', '--z', '0', '--roll', "-1.57", '--pitch', "0", '--yaw',
"-1.57", '--frame-id', camera_name, '--child-frame-id', [camera_name, '_optical_frame']],
remappings=[('/tf_static', 'tf_static')],
)

ld = LaunchDescription(ARGUMENTS)
ld.add_action(camera_bridge)
ld.add_action(spawn_camera)
ld.add_action(static_transform)
ld.add_action(static_transform_2)
return ld
13 changes: 4 additions & 9 deletions simulation/gazebo/gazebo_static_camera/models/camera.sdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,11 @@
<xacro:arg name="image_width" default="320"/>
<xacro:arg name="image_height" default="240"/>
<xacro:arg name="update_rate" default="5"/>
<xacro:arg name="camera_name" default="camera"/>

<model name="camera">
<static>true</static>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
Expand All @@ -16,14 +16,8 @@
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<pose>-0.05 -0.05 -0.05 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
Expand All @@ -32,6 +26,7 @@
</visual>
<sensor name="camera" type="camera">
<camera>
<optical_frame_id>$(arg camera_name)_optical_frame</optical_frame_id>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>$(arg image_width)</width>
Expand All @@ -48,4 +43,4 @@
</sensor>
</link>
</model>
</sdf>
</sdf>
3 changes: 2 additions & 1 deletion simulation/gazebo/gazebo_static_camera/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,8 @@
<exec_depend>ros_gz_bridge</exec_depend>
<exec_depend>ros_ign_gazebo</exec_depend>
<exec_depend>xacro</exec_depend>

<exec_depend>tf2_ros</exec_depend>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
Expand Down