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Implement ROS bridge for calling set_rate on cameras and lidars. Add it to select robots. (#791)
1 parent 61d2e7a commit 18be261

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18 files changed

+377
-11
lines changed

18 files changed

+377
-11
lines changed

‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch

+41
Original file line numberDiff line numberDiff line change
@@ -183,6 +183,11 @@
183183
<remap from="input/image" to="front/depth" />
184184
<remap from="output/image" to="front/optical/depth" />
185185
</node>
186+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
187+
<arg name="name" value="ros_ign_bridge_rgbd_set_rate" />
188+
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/camera/set_rate" />
189+
<arg name="ros_service" value="front/set_rate" />
190+
</include>
186191

187192
<!-- Planar Laser -->
188193
<node
@@ -193,6 +198,12 @@
193198
<remap from="$(arg link_prefix)/laser/sensor/laser/scan" to="front_scan"/>
194199
</node>
195200

201+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
202+
<arg name="name" value="ros_ign_bridge_lidar_set_rate" />
203+
<arg name="ign_service" value="$(arg link_prefix)/laser/sensor/laser/scan/set_rate" />
204+
<arg name="ros_service" value="front_scan/set_rate" />
205+
</include>
206+
196207
<!-- Omnicamera -->
197208

198209
<node
@@ -219,6 +230,11 @@
219230
<remap from="input/camera_info" to="omni/camera_0/camera_info" />
220231
<remap from="output/camera_info" to="omni/camera_0/optical/camera_info" />
221232
</node>
233+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
234+
<arg name="name" value="ros_ign_bridge_omnicam0_set_rate" />
235+
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0/image/set_rate" />
236+
<arg name="ros_service" value="omni/camera_0/set_rate" />
237+
</include>
222238

223239
<node
224240
pkg="ros_ign_bridge"
@@ -244,6 +260,11 @@
244260
<remap from="input/camera_info" to="omni/camera_1/camera_info" />
245261
<remap from="output/camera_info" to="omni/camera_1/optical/camera_info" />
246262
</node>
263+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
264+
<arg name="name" value="ros_ign_bridge_omnicam1_set_rate" />
265+
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1/image/set_rate" />
266+
<arg name="ros_service" value="omni/camera_1/set_rate" />
267+
</include>
247268

248269
<node
249270
pkg="ros_ign_bridge"
@@ -269,6 +290,11 @@
269290
<remap from="input/camera_info" to="omni/camera_2/camera_info" />
270291
<remap from="output/camera_info" to="omni/camera_2/optical/camera_info" />
271292
</node>
293+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
294+
<arg name="name" value="ros_ign_bridge_omnicam2_set_rate" />
295+
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2/image/set_rate" />
296+
<arg name="ros_service" value="omni/camera_2/set_rate" />
297+
</include>
272298

273299
<node
274300
pkg="ros_ign_bridge"
@@ -294,6 +320,11 @@
294320
<remap from="input/camera_info" to="omni/camera_3/camera_info" />
295321
<remap from="output/camera_info" to="omni/camera_3/optical/camera_info" />
296322
</node>
323+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
324+
<arg name="name" value="ros_ign_bridge_omnicam3_set_rate" />
325+
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3/image/set_rate" />
326+
<arg name="ros_service" value="omni/camera_3/set_rate" />
327+
</include>
297328

298329
<node
299330
pkg="ros_ign_bridge"
@@ -319,6 +350,11 @@
319350
<remap from="input/camera_info" to="omni/camera_4/camera_info" />
320351
<remap from="output/camera_info" to="omni/camera_4/optical/camera_info" />
321352
</node>
353+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
354+
<arg name="name" value="ros_ign_bridge_omnicam4_set_rate" />
355+
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4/image/set_rate" />
356+
<arg name="ros_service" value="omni/camera_4/set_rate" />
357+
</include>
322358

323359
<node
324360
pkg="ros_ign_bridge"
@@ -344,6 +380,11 @@
344380
<remap from="input/camera_info" to="omni/camera_5/camera_info" />
345381
<remap from="output/camera_info" to="omni/camera_5/optical/camera_info" />
346382
</node>
383+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
384+
<arg name="name" value="ros_ign_bridge_omnicam5_set_rate" />
385+
<arg name="ign_service" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5/image/set_rate" />
386+
<arg name="ros_service" value="omni/camera_5/set_rate" />
387+
</include>
347388

348389
<!--IMU-->
349390
<node

‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -21,6 +21,7 @@
2121
<exec_depend>ignition-gazebo4</exec_depend>
2222

2323
<exec_depend>roslaunch</exec_depend>
24+
<exec_depend>subt_ros</exec_depend>
2425
<exec_depend>xacro</exec_depend>
2526

2627
</package>

‎submitted_models/explorer_ds1_sensor_config_1/launch/vehicle_topics.launch

+20
Original file line numberDiff line numberDiff line change
@@ -122,6 +122,11 @@
122122
<remap from="input/camera_info" to="depth/camera_info" />
123123
<remap from="output/camera_info" to="optical/depth/camera_info" />
124124
</node>
125+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
126+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
127+
<arg name="ign_service" value="$(arg sensor_prefix)/rs_up/set_rate" />
128+
<arg name="ros_service" value="set_rate" />
129+
</include>
125130
</group>
126131

127132
<!--DOWN RGBD camera -->
@@ -179,6 +184,11 @@
179184
<remap from="input/camera_info" to="depth/camera_info" />
180185
<remap from="output/camera_info" to="optical/depth/camera_info" />
181186
</node>
187+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
188+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
189+
<arg name="ign_service" value="$(arg sensor_prefix)/rs_down/set_rate" />
190+
<arg name="ros_service" value="set_rate" />
191+
</include>
182192
</group>
183193

184194
<!--Front RGBD camera -->
@@ -236,6 +246,11 @@
236246
<remap from="input/camera_info" to="depth/camera_info" />
237247
<remap from="output/camera_info" to="optical/depth/camera_info" />
238248
</node>
249+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
250+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
251+
<arg name="ign_service" value="$(arg sensor_prefix)/rs_front/set_rate" />
252+
<arg name="ros_service" value="set_rate" />
253+
</include>
239254
</group>
240255

241256
<!-- 3D lidar -->
@@ -247,6 +262,11 @@
247262
args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
248263
<remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
249264
</node>
265+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
266+
<arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
267+
<arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
268+
<arg name="ros_service" value="points/set_rate" />
269+
</include>
250270
</group>
251271

252272
<!-- UAV -->

‎submitted_models/explorer_ds1_sensor_config_1/package.xml

+5-3
Original file line numberDiff line numberDiff line change
@@ -11,8 +11,10 @@
1111
<license>BSD</license>
1212

1313
<buildtool_depend>catkin</buildtool_depend>
14-
<buildtool_depend>roslaunch</buildtool_depend>
15-
<buildtool_depend>urdf</buildtool_depend>
16-
<buildtool_depend>xacro</buildtool_depend>
14+
15+
<exec_depend>roslaunch</exec_depend>
16+
<exec_depend>subt_ros</exec_depend>
17+
<exec_depend>urdf</exec_depend>
18+
<exec_depend>xacro</exec_depend>
1719

1820
</package>

‎submitted_models/explorer_x1_sensor_config_1/launch/vehicle_topics.launch

+28
Original file line numberDiff line numberDiff line change
@@ -101,6 +101,11 @@
101101
<remap from="output/image" to="depth/optical/image_raw" />
102102
</node>
103103

104+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
105+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
106+
<arg name="ign_service" value="$(arg sensor_prefix)/front_realsense/set_rate" />
107+
<arg name="ros_service" value="set_rate" />
108+
</include>
104109
</group>
105110

106111
<!--Left RGBD camera -->
@@ -154,6 +159,12 @@
154159
<remap from="output/image" to="depth/optical/image_raw" />
155160
</node>
156161

162+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
163+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
164+
<arg name="ign_service" value="$(arg sensor_prefix)/left_realsense/set_rate" />
165+
<arg name="ros_service" value="set_rate" />
166+
</include>
167+
157168
</group>
158169

159170
<!--Rear RGBD camera -->
@@ -207,6 +218,12 @@
207218
<remap from="output/image" to="depth/optical/image_raw" />
208219
</node>
209220

221+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
222+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
223+
<arg name="ign_service" value="$(arg sensor_prefix)/rear_realsense/set_rate" />
224+
<arg name="ros_service" value="set_rate" />
225+
</include>
226+
210227
</group>
211228

212229
<!--Right RGBD camera -->
@@ -260,6 +277,12 @@
260277
<remap from="output/image" to="depth/optical/image_raw" />
261278
</node>
262279

280+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
281+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
282+
<arg name="ign_service" value="$(arg sensor_prefix)/right_realsense/set_rate" />
283+
<arg name="ros_service" value="set_rate" />
284+
</include>
285+
263286
</group>
264287

265288
<!--Front Laser-->
@@ -270,6 +293,11 @@
270293
args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
271294
<remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
272295
</node>
296+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
297+
<arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
298+
<arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
299+
<arg name="ros_service" value="points/set_rate" />
300+
</include>
273301

274302

275303
<!--IMU-->

‎submitted_models/explorer_x1_sensor_config_1/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@
1212
<buildtool_depend>catkin</buildtool_depend>
1313
<build_depend>roslaunch</build_depend>
1414
<exec_depend>lms1xx</exec_depend>
15+
<exec_depend>subt_ros</exec_depend>
1516
<exec_depend>urdf</exec_depend>
1617
<exec_depend>xacro</exec_depend>
1718

‎submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch

+29-1
Original file line numberDiff line numberDiff line change
@@ -101,6 +101,12 @@
101101
<remap from="output/image" to="depth/optical/image_raw" />
102102
</node>
103103

104+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
105+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
106+
<arg name="ign_service" value="$(arg sensor_prefix)/front_realsense/set_rate" />
107+
<arg name="ros_service" value="set_rate" />
108+
</include>
109+
104110
</group>
105111

106112
<!--Left RGBD camera -->
@@ -154,6 +160,12 @@
154160
<remap from="output/image" to="depth/optical/image_raw" />
155161
</node>
156162

163+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
164+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
165+
<arg name="ign_service" value="$(arg sensor_prefix)/left_realsense/set_rate" />
166+
<arg name="ros_service" value="set_rate" />
167+
</include>
168+
157169
</group>
158170

159171
<!--Rear RGBD camera -->
@@ -207,6 +219,12 @@
207219
<remap from="output/image" to="depth/optical/image_raw" />
208220
</node>
209221

222+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
223+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
224+
<arg name="ign_service" value="$(arg sensor_prefix)/rear_realsense/set_rate" />
225+
<arg name="ros_service" value="set_rate" />
226+
</include>
227+
210228
</group>
211229

212230
<!--Right RGBD camera -->
@@ -260,6 +278,12 @@
260278
<remap from="output/image" to="depth/optical/image_raw" />
261279
</node>
262280

281+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
282+
<arg name="name" value="ros_ign_bridge_camera_set_rate" />
283+
<arg name="ign_service" value="$(arg sensor_prefix)/right_realsense/set_rate" />
284+
<arg name="ros_service" value="set_rate" />
285+
</include>
286+
263287
</group>
264288

265289
<!--Front Laser-->
@@ -270,7 +294,11 @@
270294
args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
271295
<remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
272296
</node>
273-
297+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
298+
<arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
299+
<arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
300+
<arg name="ros_service" value="points/set_rate" />
301+
</include>
274302

275303
<!--IMU-->
276304
<node

‎submitted_models/explorer_x1_sensor_config_2/package.xml

+1
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@@ -12,6 +12,7 @@
1212
<buildtool_depend>catkin</buildtool_depend>
1313
<build_depend>roslaunch</build_depend>
1414
<exec_depend>lms1xx</exec_depend>
15+
<exec_depend>subt_ros</exec_depend>
1516
<exec_depend>urdf</exec_depend>
1617
<exec_depend>xacro</exec_depend>
1718

‎submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch

+20
Original file line numberDiff line numberDiff line change
@@ -102,6 +102,11 @@
102102
<remap from="input/image" to="front/depth" />
103103
<remap from="output/image" to="front/optical/depth" />
104104
</node>
105+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
106+
<arg name="name" value="ros_ign_bridge_rgbd_set_rate" />
107+
<arg name="ign_service" value="$(arg sensor_prefix)/camera_front/set_rate" />
108+
<arg name="ros_service" value="front/set_rate" />
109+
</include>
105110

106111
<!-- Top TOF -->
107112
<node
@@ -134,6 +139,11 @@
134139
<remap from="input/camera_info" to="tof_top/camera_info" />
135140
<remap from="output/camera_info" to="tof_top/optical/camera_info" />
136141
</node>
142+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
143+
<arg name="name" value="ros_ign_bridge_tof_top_set_rate" />
144+
<arg name="ign_service" value="$(arg sensor_prefix)/tof_top/depth_image/set_rate" />
145+
<arg name="ros_service" value="tof_top/set_rate" />
146+
</include>
137147

138148
<!-- Bottom TOF -->
139149
<node
@@ -166,6 +176,11 @@
166176
<remap from="input/camera_info" to="tof_bottom/camera_info" />
167177
<remap from="output/camera_info" to="tof_bottom/optical/camera_info" />
168178
</node>
179+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
180+
<arg name="name" value="ros_ign_bridge_tof_bottom_set_rate" />
181+
<arg name="ign_service" value="$(arg sensor_prefix)/tof_bottom/depth_image/set_rate" />
182+
<arg name="ros_service" value="tof_bottom/set_rate" />
183+
</include>
169184

170185
<!-- 3D lidar -->
171186
<node
@@ -175,6 +190,11 @@
175190
args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
176191
<remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
177192
</node>
193+
<include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
194+
<arg name="name" value="ros_ign_bridge_lidar3d_set_rate" />
195+
<arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
196+
<arg name="ros_service" value="points/set_rate" />
197+
</include>
178198

179199
<node
180200
pkg="ros_ign_bridge"

‎submitted_models/marble_qav500_sensor_config_1/package.xml

+5-3
Original file line numberDiff line numberDiff line change
@@ -20,8 +20,10 @@
2020
<license>BSD</license>
2121

2222
<buildtool_depend>catkin</buildtool_depend>
23-
<buildtool_depend>roslaunch</buildtool_depend>
24-
<buildtool_depend>urdf</buildtool_depend>
25-
<buildtool_depend>xacro</buildtool_depend>
23+
24+
<exec_depend>roslaunch</exec_depend>
25+
<exec_depend>subt_ros</exec_depend>
26+
<exec_depend>urdf</exec_depend>
27+
<exec_depend>xacro</exec_depend>
2628

2729
</package>

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