5.1.3 Logical camera in the factory simulation

Course subject(s) Module 5. Robot Vision

In this lecture, we will learn how to add a logical camera to our factory simulation. Furthermore, a few basics of Gazebo world files will be explained.

Gazebo world file:

  • We can create models for the Gazebo physics simulator.
      • Simulation description format (.sdf) models.
      • Multiple .sdf models composed in a world file.
      • More features than URDF (friction, non-robotic elements).
      • Spawn URDF models with spawner ROS node.
  • Functionality can be configured:
      • With a logical camera plugin.

The models reside in:

  • hrwros_gazebo ROS package
      • hrwros_gazebo/models
  • Camera model files
        • hrwros_gazebo/models/logical_camera/model.sdf 
    • Conveyor object(s)
        • config/conveyor_objects.yaml
        • simple box object

We can include .sdf models to our world with the include tag. You will have to add two logical camera models:

     <pose>1.2 5 0 0 0 -1571</pose>
   < -- include logical camera model(s) here -- >

Creative Commons License
Hello (Real) World with ROS - Robot Operating System by TU Delft OpenCourseWare is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
Based on a work at https://online-learning.tudelft.nl/courses/hello-real-world-with-ros-robot-operating-systems//.
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