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README.md
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README.md
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Section 1: Installation
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To add camera functionality to the spiri drone, copy the code below into the sdf file of the model you are using, before the last </model> line.
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<!-- joint for camera -->
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<joint name="camera_joint" type="fixed">
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<parent> spiri::base </parent>
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<child> camera_link::link </child>
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</joint>
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<!-- link for camera -->
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<link name="camera_link">
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.01</mass>
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<inertia>
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<ixx>2.1733e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.1733e-06</iyy>
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<iyz>0</iyz>
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<izz>1.8e-07</izz>
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</inertia>
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</inertial>
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<pose>0 0 0.15 0 0 0</pose>
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<visual name="camera_visual">
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<pose>-0.005 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1.0</ambient>
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<diffuse>0 0 0 1.0</diffuse>
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<specular>0.0 0.0 0.0 1.0</specular>
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<emissive>0.0 0.0 0.0 1.0</emissive>
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</material>
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</visual>
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<sensor type="multicamera" name="stereo_camera">
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<update_rate>30.0</update_rate>
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<camera name="left">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>800</width>
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<height>800</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<camera name="right">
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<pose>0 -0.07 0 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>800</width>
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<height>800</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>multisense_sl/camera</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>left_camera_optical_frame</frameName>
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<!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</link>
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Section 2: Modifying the code
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This section will go through the code section by section and describe what each part represents
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Joint:
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This joint connects the camera link to the main robot. The parent is the main robot (base) and the child is the camera link
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<joint name="camera_joint" type="fixed">
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<parent> spiri::base </parent>
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<child> camera_link::link </child>
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</joint>
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Link: This defines the actual camera
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<link name="camera_link">
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Inertial: This defines the mass and intertial properties. The values are set to be small to not change the model much
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.01</mass>
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<inertia>
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<ixx>2.1733e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.1733e-06</iyy>
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<iyz>0</iyz>
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<izz>1.8e-07</izz>
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</inertia>
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</inertial>
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Pose: This defines the position where the cameras will be centered
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<pose>0 0 0.15 0 0 0</pose>
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Visual: this defines the look of the camera
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<visual name="camera_visual">
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<pose>-0.005 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1.0</ambient>
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<diffuse>0 0 0 1.0</diffuse>
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<specular>0.0 0.0 0.0 1.0</specular>
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<emissive>0.0 0.0 0.0 1.0</emissive>
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</material>
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</visual>
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Sensor: This defines how and what the camera outputs. The type multicamera corresponds to a stereo camera
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<sensor type="multicamera" name="stereo_camera">
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Update rate: This parameter defines the frame rate of the cameras
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<update_rate>30.0</update_rate>
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Next we define the left camera specific parameters
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<camera name="left">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>800</width>
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<height>800</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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These values still need to be updated to match the camera we are actually using
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The right camera is similarly defined, along with an offset from the left camera (the pose)
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<camera name="right">
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<pose>0 -0.07 0 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>800</width>
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<height>800</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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Finally we define some values for ros to use for the topics that we output to, and close everything
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<plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>multisense_sl/camera</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>left_camera_optical_frame</frameName>
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</plugin>
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</sensor>
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</link>
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