Week 5-6: Gazebo sensors

This is how far we will get by the end of this lesson:

Table of Contents

1. Download ROS package
2. Camera
   2.1. Image transport
   2.2. rqt reconfigure
   2.3. Wide angle camera
3. IMU
4. GPS
   4.1. Haversine formula
   4.2. GPS waypoint following
5. Lidar
   5.1. 3D lidar
6. RGBD camera
7. Image processing with OpenCV

Download ROS package

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sudo apt install ros-jazzy-topic-tools

sudo apt install ros-jazzy-rviz-imu-plugin sudo apt install ros-jazzy-rviz-satellite

GZ examples: https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds

relay camera info topic: sudo apt install ros-jazzy-topic-tools

SDF reference: http://sdformat.org/spec?elem=sensor&ver=1.6

ros_gz_bridge message types: https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge

IMU plugin: sudo apt install ros-jazzy-rviz-imu-plugin

WORLD plugin!!!!

GPS:

OpenStreetMap https://www.openstreetmap.org/search?lat=47.479099&lon=19.057811

sudo apt install ros-jazzy-rviz-satellite https://github.com/nobleo/rviz_satellite

WORLD plugin!!!!

sudo apt install ros-jazzy-tf-transformations

ros2 launch bme_gazebo_sensors spawn_robot.launch.py world:=empty.sdf rviz_config:=gps.rviz x:=0.0 y:=0.0 yaw:=0.0

EKF: sudo apt install ros-jazzy-robot-localization

To see who is the publisher: ros2 topic info /odom --verbose

Reload URDF:

david@david-ubuntu24:~$ ros2 param set /robot_state_publisher robot_description "$(xacro $(ros2 pkg prefix bme_gazebo_sensors)/share/bme_gazebo_sensors/urdf/mogi_bot.urdf)" Set parameter successful

OpenCV

sudo apt install ros-jazzy-cv-bridge