From 39c58612746fbbba91dae53e9e450833e8b465cc Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Wed, 22 May 2024 01:28:16 +0300 Subject: [PATCH 01/16] Refactored perception pipeline tutorial from ros1 to ros 2 --- CMakeLists.txt | 2 +- .../perception_pipeline/CMakeLists.txt | 24 +- .../bags/perception_tutorial.bag | Bin 1639938 -> 0 bytes .../config/sensors_3d.yaml | 21 + .../cylinder_collision_object.png | Bin 220749 -> 0 bytes .../Screenshot from 2024-05-20 13-01-16.png | Bin 0 -> 211620 bytes .../Screenshot from 2024-05-20 13-09-34.png | Bin 0 -> 460800 bytes ...perception_pipeline_demo_gazebo_screen.png | Bin 0 -> 201774 bytes .../perception_pipeline_demo_rviz_screen.png | Bin 0 -> 420649 bytes ...tion_pipeline_depth_camera_environment.png | Bin 0 -> 165832 bytes .../launch/depth_camera_environment.launch.py | 153 ++++ ..._add_cylinder_collision_object_demo.launch | 7 - .../launch/obstacle_avoidance_demo.launch | 11 - .../launch/perception_pipeline_demo.launch.py | 174 ++++ .../perception_pipeline/meshes/d435.dae | 746 ++++++++++++++++++ .../obstacle_avoidance.gif | Bin 356597 -> 0 bytes .../perception_configuration_demo.png | Bin 243198 -> 0 bytes .../perception_pipeline_tutorial.rst | 226 ++---- .../rviz2/depth_camera_environment.rviz | 201 +++++ .../src/bag_publisher_maintain_time.cpp | 82 -- .../src/cylinder_segment.cpp | 370 --------- .../urdf/realsense_d435/camera.urdf.xacro | 97 +++ .../urdf/realsense_d435/macros.xacro | 20 + .../worlds/perception_pipeline_demo.world | 334 ++++++++ 24 files changed, 1823 insertions(+), 645 deletions(-) delete mode 100644 doc/examples/perception_pipeline/bags/perception_tutorial.bag create mode 100644 doc/examples/perception_pipeline/config/sensors_3d.yaml delete mode 100644 doc/examples/perception_pipeline/cylinder_collision_object.png create mode 100644 doc/examples/perception_pipeline/images/Screenshot from 2024-05-20 13-01-16.png create mode 100644 doc/examples/perception_pipeline/images/Screenshot from 2024-05-20 13-09-34.png create mode 100644 doc/examples/perception_pipeline/images/perception_pipeline_demo_gazebo_screen.png create mode 100644 doc/examples/perception_pipeline/images/perception_pipeline_demo_rviz_screen.png create mode 100644 doc/examples/perception_pipeline/images/perception_pipeline_depth_camera_environment.png create mode 100644 doc/examples/perception_pipeline/launch/depth_camera_environment.launch.py delete mode 100644 doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch delete mode 100644 doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch create mode 100644 doc/examples/perception_pipeline/launch/perception_pipeline_demo.launch.py create mode 100644 doc/examples/perception_pipeline/meshes/d435.dae delete mode 100644 doc/examples/perception_pipeline/obstacle_avoidance.gif delete mode 100644 doc/examples/perception_pipeline/perception_configuration_demo.png create mode 100644 doc/examples/perception_pipeline/rviz2/depth_camera_environment.rviz delete mode 100644 doc/examples/perception_pipeline/src/bag_publisher_maintain_time.cpp delete mode 100644 doc/examples/perception_pipeline/src/cylinder_segment.cpp create mode 100644 doc/examples/perception_pipeline/urdf/realsense_d435/camera.urdf.xacro create mode 100644 doc/examples/perception_pipeline/urdf/realsense_d435/macros.xacro create mode 100644 doc/examples/perception_pipeline/worlds/perception_pipeline_demo.world diff --git a/CMakeLists.txt b/CMakeLists.txt index 5fae5150f0..14a8a6e28f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -44,7 +44,6 @@ add_subdirectory(doc/examples/collision_environments) # add_subdirectory(doc/examples/interactivity) # add_subdirectory(doc/examples/kinematics) # add_subdirectory(doc/examples/move_group_python_interface) -# add_subdirectory(doc/examples/perception_pipeline) # add_subdirectory(doc/examples/pick_place) # add_subdirectory(doc/examples/planning) # add_subdirectory(doc/examples/state_display) @@ -52,6 +51,7 @@ add_subdirectory(doc/examples/collision_environments) # add_subdirectory(doc/examples/tests) # add_subdirectory(doc/examples/trajopt_planner) # add_subdirectory(doc/examples/visualizing_collisions) +add_subdirectory(doc/examples/perception_pipeline) add_subdirectory(doc/examples/jupyter_notebook_prototyping) add_subdirectory(doc/examples/motion_planning_api) add_subdirectory(doc/examples/motion_planning_pipeline) diff --git a/doc/examples/perception_pipeline/CMakeLists.txt b/doc/examples/perception_pipeline/CMakeLists.txt index fad25d2a80..99af047235 100644 --- a/doc/examples/perception_pipeline/CMakeLists.txt +++ b/doc/examples/perception_pipeline/CMakeLists.txt @@ -1,13 +1,17 @@ -add_executable(cylinder_segment src/cylinder_segment.cpp) -target_link_libraries(cylinder_segment ${catkin_LIBRARIES}) +install(DIRECTORY urdf + DESTINATION share/${PROJECT_NAME}) -add_executable(bag_publisher_maintain_time src/bag_publisher_maintain_time.cpp) -target_link_libraries(bag_publisher_maintain_time ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME}) -install( -TARGETS - bag_publisher_maintain_time - cylinder_segment -DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +install(DIRECTORY meshes + DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config + DESTINATION share/${PROJECT_NAME}) + +install(DIRECTORY worlds + DESTINATION share/${PROJECT_NAME}) + +install(DIRECTORY rviz2 + DESTINATION share/${PROJECT_NAME}) diff --git a/doc/examples/perception_pipeline/bags/perception_tutorial.bag b/doc/examples/perception_pipeline/bags/perception_tutorial.bag deleted file mode 100644 index d52936a1cc63fb509d0e8e1fca04d7334416e123..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1639938 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LRHREJO#=T9i$aO) literal 0 HcmV?d00001 diff --git a/doc/examples/perception_pipeline/launch/depth_camera_environment.launch.py b/doc/examples/perception_pipeline/launch/depth_camera_environment.launch.py new file mode 100644 index 0000000000..ffbeac432d --- /dev/null +++ b/doc/examples/perception_pipeline/launch/depth_camera_environment.launch.py @@ -0,0 +1,153 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import Command +from launch_ros.substitutions import FindPackageShare +from launch_ros.actions import Node +from launch.actions import IncludeLaunchDescription +from launch.substitutions import PathJoinSubstitution +import math + + +def generate_launch_description(): + urdf_file = os.path.join( + get_package_share_directory("moveit2_tutorials"), + "urdf/realsense_d435/camera.urdf.xacro", + ) + + # The list presents the pose in euler coordinates ordered x, y, z, yaw, pitch, roll respectively. + camera_1_pose = ["-1", "-1", "0", f"{math.pi/2}", "0.0", "0.0"] + camera_2_pose = ["-1", "1", "0", f"-{math.pi/2}", "0.0", "0.0"] + + # It is necessary for gazebo spawner to use the description of camera_1 in gazebo environment + camera_1_robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="screen", + parameters=[ + { + "use_sim_time": True, + "robot_description": Command( + [f"xacro {urdf_file}", " camera_name:='camera_1'"] + ), + } + ], + remappings=[ + ("robot_description", "/camera_1/robot_description"), + ], + ) + + # It is necessary for spawning camera_1 in gazebo environment + camera_1_gazebo_spawner_node = Node( + package="gazebo_ros", + executable="spawn_entity.py", + arguments=[ + "-entity", + "mr_camera", + "-topic", + "/camera_1/robot_description", + "-x", + camera_1_pose[0], + "-y", + camera_1_pose[1], + "-z", + camera_1_pose[2], + "-Y", + camera_1_pose[3], + "-P", + camera_1_pose[4], + "-R", + camera_1_pose[5], + ], + output="screen", + ) + + # It is necessary to make transformation between world frame and camera frames enable later. + camera_1_tf_from_world_publisher_node = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + output="log", + arguments=[*camera_1_pose, "world", "camera_1_base_link"], + ) + + # It is necessary for gazebo spawner to use the description of camera_2 in gazebo environment + camera_2_gazebo_spawner_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher2", + output="screen", + parameters=[ + { + "use_sim_time": True, + "robot_description": Command( + [f"xacro {urdf_file}", " camera_name:='camera_2'"] + ), + } + ], + remappings=[ + ("robot_description", "/camera_2/robot_description"), + ], + ) + + # It is necessary for spawning camera_2 in gazebo environment + camera_2_robot_state_publisher_node = Node( + package="gazebo_ros", + executable="spawn_entity.py", + name="spawn2", + arguments=[ + "-entity", + "mr_camera2", + "-topic", + "/camera_2/robot_description", + "-x", + camera_2_pose[0], + "-y", + camera_2_pose[1], + "-z", + camera_2_pose[2], + "-Y", + camera_2_pose[3], + "-P", + camera_2_pose[4], + "-R", + camera_2_pose[5], + ], + output="screen", + ) + + # It is necessary to make transformation between world frame and camera frames enable later. + camera_2_tf_from_world_publisher_node = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + output="log", + arguments=[*camera_2_pose, "world", "camera_2_base_link"], + ) + + # It is necessary to open previously created gazebo world for perception pipeline demo. + gazebo_launch = IncludeLaunchDescription( + PathJoinSubstitution( + [FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"] + ), + launch_arguments={ + "world": os.path.join( + get_package_share_directory("moveit2_tutorials"), + "worlds", + "perception_pipeline_demo.world", + ), + }.items(), + ) + + return LaunchDescription( + [ + camera_1_robot_state_publisher_node, + camera_1_gazebo_spawner_node, + camera_1_tf_from_world_publisher_node, + camera_2_robot_state_publisher_node, + camera_2_gazebo_spawner_node, + camera_2_tf_from_world_publisher_node, + gazebo_launch, + ] + ) diff --git a/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch b/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch deleted file mode 100644 index f04fd647fc..0000000000 --- a/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch b/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch deleted file mode 100644 index 567038136c..0000000000 --- a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/doc/examples/perception_pipeline/launch/perception_pipeline_demo.launch.py b/doc/examples/perception_pipeline/launch/perception_pipeline_demo.launch.py new file mode 100644 index 0000000000..bf19e572d3 --- /dev/null +++ b/doc/examples/perception_pipeline/launch/perception_pipeline_demo.launch.py @@ -0,0 +1,174 @@ +import os +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from ament_index_python.packages import get_package_share_directory +from moveit_configs_utils import MoveItConfigsBuilder +from launch_param_builder import ParameterBuilder + + +def generate_launch_description(): + + # Command-line arguments + rviz_config_arg = DeclareLaunchArgument( + "rviz_config", + default_value="moveit.rviz", + description="RViz configuration file", + ) + + db_arg = DeclareLaunchArgument( + "db", default_value="False", description="Database flag" + ) + + ros2_control_hardware_type = DeclareLaunchArgument( + "ros2_control_hardware_type", + default_value="mock_components", + description="ROS 2 control hardware interface type to use for the launch file -- possible values: [mock_components, isaac]", + ) + + moveit_config = ( + MoveItConfigsBuilder("moveit_resources_panda") + .robot_description( + file_path="config/panda.urdf.xacro", + mappings={ + "ros2_control_hardware_type": LaunchConfiguration( + "ros2_control_hardware_type" + ) + }, + ) + .robot_description_semantic(file_path="config/panda.srdf") + .robot_description_kinematics(file_path="config/kinematics.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml") + .planning_pipelines( + pipelines=["ompl", "chomp", "pilz_industrial_motion_planner", "stomp"] + ) + .sensors_3d( + file_path=os.path.join( + get_package_share_directory("moveit2_tutorials"), + "config/sensors_3d.yaml", + ) + ) + .to_moveit_configs() + ) + + # Start the actual move_group node/action server + move_group_node = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=[moveit_config.to_dict()], + arguments=["--ros-args", "--log-level", "info"], + ) + + # RViz + rviz_base = LaunchConfiguration("rviz_config") + rviz_config = PathJoinSubstitution( + [FindPackageShare("moveit_resources_panda_moveit_config"), "launch", rviz_base] + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config], + parameters=[ + moveit_config.robot_description, + moveit_config.robot_description_semantic, + moveit_config.planning_pipelines, + moveit_config.robot_description_kinematics, + moveit_config.joint_limits, + ], + ) + + # Static TF + static_tf_node = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + output="log", + arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "panda_link0"], + ) + + # Publish TF + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="both", + parameters=[moveit_config.robot_description], + ) + + # ros2_control using FakeSystem as hardware + ros2_controllers_path = os.path.join( + get_package_share_directory("moveit_resources_panda_moveit_config"), + "config", + "ros2_controllers.yaml", + ) + ros2_control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[ros2_controllers_path], + remappings=[ + ("/controller_manager/robot_description", "/robot_description"), + ], + output="screen", + ) + + joint_state_broadcaster_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "joint_state_broadcaster", + "--controller-manager", + "/controller_manager", + ], + ) + + panda_arm_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["panda_arm_controller", "-c", "/controller_manager"], + ) + + panda_hand_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["panda_hand_controller", "-c", "/controller_manager"], + ) + + # Warehouse mongodb server + db_config = LaunchConfiguration("db") + mongodb_server_node = Node( + package="warehouse_ros_mongo", + executable="mongo_wrapper_ros.py", + parameters=[ + {"warehouse_port": 33829}, + {"warehouse_host": "localhost"}, + {"warehouse_plugin": "warehouse_ros_mongo::MongoDatabaseConnection"}, + ], + output="screen", + condition=IfCondition(db_config), + ) + + return LaunchDescription( + [ + rviz_config_arg, + db_arg, + ros2_control_hardware_type, + rviz_node, + static_tf_node, + robot_state_publisher, + move_group_node, + ros2_control_node, + joint_state_broadcaster_spawner, + panda_arm_controller_spawner, + panda_hand_controller_spawner, + mongodb_server_node, + ] + ) diff --git a/doc/examples/perception_pipeline/meshes/d435.dae b/doc/examples/perception_pipeline/meshes/d435.dae new file mode 100644 index 0000000000..8c8838f141 --- /dev/null +++ b/doc/examples/perception_pipeline/meshes/d435.dae @@ -0,0 +1,746 @@ + + + + + + 2018-07-03T03:16:23 + 2018-07-03T03:16:23 + + Z_UP + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -0.040351 0.00519436 -0.00365629 -0.040351 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115008 114930 114922 114917 114900 114906 115009 114922 114914 114909 115010 114911 115011 114914 114906 114903 115010 115012 115013 114897 114906 114900 115013 114885 114890 114892 114900 114894 114798 115014 115015 114890 114886 114894 115014 114784 114782 114780 114890 114885 114800 114784 114797 114778 114885 114782 115016 114807 114800 114783 114782 114784 114795 114815 114807 114785 114784 114800 114803 114820 114815 114800 114807 114799 115017 114830 114820 114807 114815 114808 115018 114833 114830 114815 114820 114814 115019 114824 115020 114820 114830 114821 114852 114832 115021 114830 114833 114831 114872 114852 114873 114838 114833 114832 115022 114872 114854 114845 114832 114852 115023 114863 114876 114853 114852 114872 114869 114871 114863 114863 114864 115022 115023 114869 114863 114773 114986 114976 114999 114987 114986 114979 114981 114980 114976 115003 114971 115003 114985 114989 115004 114980 115002 114972 114989 114979 115005 115002 114957 114965 114979 115004 115024 114951 114950 114955 115004 115005 115006 114949 114951 114947 115005 114958 115007 114951 114933 114940 114958 115006 115025 114925 114924 114930 115006 115007 115008 114924 114926 114922 115007 114932 115009 114926 114918 114914 114932 115008 114904 114918 114911 115009 114906 115008 114898 114911 115010 114900 115009 114904 115026 115015 115027 114898 114894 114904 114888 115012 115015 115013 114890 114898 115028 114796 115029 114885 115013 114888 115030 114794 115031 115014 114782 114888 115016 114796 114794 114784 115014 114797 115032 114802 115033 114800 114797 115016 115034 114809 114802 114807 115016 114795 115017 114802 114810 114815 114795 114803 115018 114810 114817 114820 114803 115017 114834 114817 114824 114830 115017 115018 115021 114824 115019 114833 115018 114834 114873 115019 114840 114832 114834 115021 115035 114858 115036 114852 115021 114873 115037 115038 114877 114863 115022 114876 114864 114872 115022 114876 115022 114859 115023 114876 114875 114985 115003 114986 115000 114998 114990 115039 114980 114982 115003 114989 114972 114989 114981 114979 115040 115002 115001 114980 115004 114979 114957 115002 114969 115002 115005 115004 115041 114949 114963 114957 114958 115005 115042 114951 115024 115006 114958 114949 115043 114933 114945 114951 115007 115006 115044 114924 114938 114933 114932 115007 115045 114926 114925 115008 114932 114924 114918 114926 114919 114926 115009 115008 114911 114918 114912 115009 114918 114904 115046 115010 115011 114904 114911 114898 115047 115012 115048 115010 115013 114898 115015 115012 115027 115013 115012 114888 115049 114798 115050 115015 115014 114888 115051 114796 115028 114798 114797 115014 115052 114794 115030 114796 115016 114797 115053 114787 114786 114794 114795 115016 115054 114802 115032 114787 114803 114795 115055 114810 114809 115017 114803 114802 115056 114817 114816 114810 115018 115017 115057 114824 114826 114817 114834 115018 115058 115019 115020 114824 115021 114834 115059 114840 114839 115019 114873 115021 115060 114851 114850 114840 114854 114873 115061 114858 115035 114874 115062 114875 115022 114854 114859 114859 114858 114874 114879 115062 114874 115000 114990 114985 114994 114990 114998 114993 115063 114981 114982 114981 115063 115039 115064 114980 115001 114980 115064 115040 115065 115002 114969 115002 115065 114970 115066 114957 114962 114957 115066 114949 114957 114962 114950 114949 115041 115042 115067 114951 114944 114951 115067 114933 114951 114944 114937 114933 115043 114924 114933 114937 115025 114924 115044 115045 115068 114926 114919 114926 115068 114920 115069 114918 114912 114918 115069 114910 115070 114911 115011 114911 115070 115046 115071 115010 115071 115048 115012 115012 115010 115071 115027 115012 115047 115026 115072 115015 115072 115050 114798 114798 115015 115072 115029 114798 115049 114796 114798 115029 115031 114796 115051 114794 114796 115031 114788 114794 115052 114787 114794 114788 115033 114787 115053 114802 114787 115033 115034 114802 115054 115055 115073 114810 114818 114810 115073 114817 114810 114818 114825 114817 115056 115057 115074 114824 115020 114824 115074 115058 115075 115019 114841 115019 115075 114840 115019 114841 114849 114840 115059 114851 114840 114849 115036 114851 115060 114858 114851 115036 115037 114858 115061 115037 114877 114858 114877 115038 114880 115076 115077 115078 115079 115080 115076 115076 115078 115079 115080 115081 115082 115081 115080 115079 115083 115082 115084 115081 115084 115082 115084 115085 115086 115086 115083 115084 115087 115085 115088 115085 115087 115086 115089 115090 115088 115087 115088 115090 115089 115091 115092 115092 115090 115089 115093 115091 115094 115091 115093 115092 115095 115096 115094 115093 115094 115096 115095 115097 115098 115098 115096 115095 115099 115097 115100 115097 115099 115098 115101 115102 115100 115099 115100 115102 115101 115103 115104 115104 115102 115101 115105 115103 115106 115103 115105 115104 115107 115108 115106 115105 115106 115108 115107 115109 115110 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115259 115273 115259 115374 115368 115374 115375 115368 115376 115368 115377 115368 115375 115378 115379 115371 115380 115378 115377 115368 115377 115378 115381 115381 115382 115377 115383 115377 115384 115384 115377 115382 115382 115385 115384 115386 115384 115385 115384 115386 115387 115384 115388 115389 115389 115390 115383 115391 115388 115387 115384 115387 115388 115392 115388 115393 115388 115391 115394 115388 115395 115393 115395 115388 115394 115396 115397 115392 115395 115398 115393 115393 115398 115399 115393 115399 115400 115393 115400 115396 115400 115401 115402 115399 115401 115400 115403 115400 115402 115404 115396 115405 115400 115403 115406 115400 115406 115405 115406 115407 115408 115403 115407 115406 115409 115406 115408 115410 115405 115411 115409 115412 115406 115406 115413 115411 115413 115412 115414 115412 115413 115406 115415 115413 115414 115416 115411 115417 115415 115418 115413 115413 115419 115417 115419 115418 115420 115421 115422 115423 115424 115419 115420 115418 115419 115413 115424 115425 115419 115426 115427 115422 115428 115425 115429 115430 115419 115428 115431 115428 115429 115425 115428 115419 115431 115432 115428 115433 115434 115435 115433 115436 115437 115438 115428 115439 115432 115440 115439 115439 115428 115432 115441 115442 115436 115443 115439 115440 115439 115444 115445 115443 115446 115439 115447 115444 115439 115439 115446 115447 115448 115449 115450 115451 115444 115447 115258 115444 115452 115451 115452 115444 115453 115257 115256 115258 115257 115444 115257 115453 115454 115455 115456 115457 115454 115458 115257 115459 115460 115461 115458 115454 115462 115458 115462 115463 115464 115465 115466 115467 115458 115468 115257 115469 115444 115468 115470 115467 115468 115458 115463 115467 115470 115471 115472 115450 115473 115474 115475 115465 115455 115476 115473 115477 115478 115479 115480 115479 115471 115480 115481 115479 115482 115469 115483 115479 115481 115484 115485 115486 115487 115479 115484 115477 115488 115489 115490 115491 115484 115481 115492 115485 115488 115493 115488 115461 115494 115495 115496 115491 115497 115484 115485 115498 115461 115489 115499 115456 115493 115500 115489 115499 115500 115501 115499 115501 115502 115501 115494 115503 115504 115505 115506 115507 115508 115509 115506 115510 115511 115512 115513 115514 115515 115509 115508 115516 115512 115514 115512 115517 115513 115518 115516 115514 115466 115478 115464 115471 115479 115467 115479 115478 115466 115519 115520 115521 115522 115467 115479 115483 115257 115458 115458 115467 115523 115469 115524 115445 115458 115523 115483 115438 115445 115525 115257 115483 115469 115430 115438 115526 115444 115469 115445 115527 115417 115430 115439 115445 115438 115423 115528 115529 115428 115438 115430 115528 115530 115531 115417 115419 115430 115404 115532 115533 115411 115413 115417 115397 115533 115534 115411 115405 115406 115389 115392 115535 115405 115396 115400 115379 115390 115536 115393 115396 115392 115380 115376 115383 115388 115392 115389 115373 115369 115376 115389 115383 115384 115263 115369 115537 115376 115377 115383 115265 115276 115538 115369 115368 115376 115281 115270 115539 115259 115369 115263 115293 115278 115540 115260 115263 115270 115345 115298 115297 115272 115270 115281 115298 115344 115300 115281 115297 115280 115345 115344 115298 115298 115286 115297 115541 115542 115331 115296 115298 115300 115542 115342 115336 115300 115319 115301 115342 115542 115543 115320 115541 115331 115317 115325 115544 115336 115331 115542 115317 115544 115545 115333 115336 115342 115545 115546 115317 115343 115544 115325 115317 115546 115311 115466 115522 115479 115474 115465 115464 115475 115547 115465 115522 115523 115467 115459 115522 115466 115523 115487 115483 115523 115522 115498 115482 115486 115449 115487 115523 115498 115524 115449 115548 115482 115483 115487 115525 115548 115435 115524 115469 115482 115526 115435 115549 115525 115445 115524 115527 115549 115550 115526 115438 115525 115416 115550 115551 115526 115527 115430 115410 115551 115532 115527 115416 115417 115552 115553 115533 115416 115410 115411 115554 115534 115553 115405 115410 115404 115535 115534 115536 115396 115404 115397 115555 115556 115379 115397 115535 115392 115556 115557 115371 115535 115390 115389 115558 115559 115264 115390 115380 115383 115537 115372 115560 115380 115373 115376 115271 115560 115561 115537 115369 115373 115539 115561 115562 115271 115263 115537 115324 115562 115563 115539 115270 115271 115345 115563 115305 115324 115281 115539 115344 115305 115355 115297 115324 115345 115356 115351 115541 115543 115542 115351 115319 115541 115320 115318 115300 115344 115543 115564 115342 115541 115319 115356 115351 115350 115543 115542 115541 115351 115343 115565 115544 115544 115566 115567 115333 115343 115325 115343 115564 115565 115545 115544 115567 115459 115466 115465 115568 115547 115475 115547 115520 115519 115459 115498 115522 115465 115460 115459 115569 115494 115501 115459 115461 115498 115486 115492 115450 115485 115487 115498 115441 115476 115570 115486 115482 115487 115548 115448 115433 115449 115524 115482 115426 115442 115571 115548 115525 115524 115549 115434 115421 115525 115435 115526 115550 115421 115529 115526 115549 115527 115551 115529 115531 115416 115527 115550 115532 115531 115552 115410 115416 115551 115572 115573 115553 115404 115410 115532 115573 115574 115554 115533 115397 115404 115536 115554 115555 115535 115397 115534 115575 115576 115556 115390 115535 115536 115558 115577 115578 115380 115390 115379 115372 115557 115266 115373 115380 115371 115560 115266 115538 115373 115372 115537 115561 115538 115283 115537 115560 115271 115562 115283 115579 115561 115539 115271 115563 115579 115295 115562 115324 115539 115307 115291 115580 115563 115345 115324 115355 115304 115352 115543 115350 115581 115318 115356 115319 115344 115355 115318 115582 115583 115350 115318 115354 115356 115584 115565 115564 115351 115356 115349 115585 115565 115584 115544 115565 115566 115342 115564 115343 115564 115581 115584 115585 115566 115565 115547 115460 115465 115568 115520 115547 115460 115586 115493 115547 115586 115460 115456 115455 115490 115460 115493 115461 115490 115473 115492 115461 115488 115485 115587 115588 115589 115485 115492 115486 115472 115436 115448 115486 115450 115449 115590 115591 115592 115449 115448 115548 115437 115422 115434 115548 115433 115435 115427 115593 115423 115435 115434 115549 115593 115594 115528 115550 115549 115421 115595 115530 115594 115529 115551 115550 115552 115530 115572 115531 115532 115551 115596 115597 115573 115552 115533 115532 115598 115574 115597 115553 115534 115533 115599 115600 115601 115554 115536 115534 115602 115603 115604 115379 115536 115555 115557 115576 115264 115379 115556 115371 115559 115277 115265 115371 115557 115372 115605 115606 115607 115372 115266 115560 115278 115293 115282 115560 115538 115561 115282 115292 115579 115561 115283 115562 115291 115307 115294 115562 115579 115563 115294 115309 115304 115563 115295 115305 115582 115349 115359 115355 115305 115304 115352 115353 115359 115355 115352 115354 115581 115350 115583 115359 115349 115354 115581 115608 115584 115584 115609 115585 115543 115581 115564 115608 115581 115583 115610 115609 115584 115586 115547 115519 115521 115611 115519 115612 115495 115494 115569 115586 115519 115613 115456 115499 115493 115586 115500 115614 115615 115616 115488 115493 115489 115617 115476 115455 115492 115488 115490 115472 115476 115441 115450 115492 115473 115618 115442 115441 115448 115450 115472 115437 115442 115426 115433 115448 115436 115619 115427 115426 115434 115433 115437 115620 115593 115427 115421 115434 115422 115621 115594 115593 115423 115529 115421 115622 115623 115624 115529 115528 115531 115623 115596 115595 115530 115552 115531 115625 115597 115596 115572 115553 115552 115574 115575 115555 115553 115573 115554 115575 115598 115577 115574 115555 115554 115576 115577 115558 115556 115555 115575 115626 115559 115558 115557 115556 115576 115627 115607 115628 115266 115557 115264 115605 115278 115277 115538 115266 115265 115629 115630 115631 115538 115276 115283 115632 115291 115293 115579 115283 115282 115633 115634 115635 115295 115579 115292 115357 115308 115307 115295 115294 115304 115353 115309 115308 115352 115304 115309 115636 115608 115637 115349 115582 115350 115361 115360 115582 115584 115608 115610 115637 115608 115583 115636 115610 115608 115569 115519 115611 115611 115638 115569 115569 115500 115586 115494 115569 115638 115639 115613 115502 115501 115500 115569 115613 115640 115457 115489 115500 115499 115615 115617 115457 115456 115490 115489 115617 115588 115570 115473 115490 115455 115641 115618 115570 115476 115472 115473 115618 115591 115571 115436 115472 115441 115642 115619 115571 115442 115437 115436 115643 115620 115619 115426 115422 115437 115644 115621 115620 115427 115423 115422 115645 115622 115646 115593 115528 115423 115572 115595 115596 115528 115594 115530 115647 115625 115623 115530 115595 115572 115648 115601 115649 115572 115596 115573 115650 115601 115651 115573 115597 115574 115598 115651 115577 115598 115575 115574 115652 115626 115578 115577 115576 115575 115626 115653 115606 115558 115264 115576 115559 115606 115277 115559 115265 115264 115605 115654 115540 115276 115265 115277 115630 115632 115540 115278 115282 115276 115632 115655 115580 115292 115282 115293 115634 115357 115580 115291 115294 115292 115656 115358 115357 115309 115294 115307 115657 115360 115346 115582 115360 115583 115359 115361 115582 115347 115346 115361 115360 115637 115583 115657 115637 115360 115638 115612 115494 115658 115506 115511 115494 115496 115503 115659 115639 115505 115501 115503 115502 115660 115640 115661 115499 115502 115613 115640 115662 115616 115456 115613 115457 115663 115588 115664 115457 115617 115455 115665 115641 115587 115476 115617 115570 115666 115591 115667 115570 115618 115441 115668 115642 115590 115442 115618 115571 115669 115643 115670 115426 115571 115619 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zQMW8sY(^w|h)mXE;2l#&Q;4WnTN)^3k5V(KRaO{a8rhx*`<#Vf0<^*|x%)}6E%bhv z8m*^J+Q_4yI;FvHi--dl zxD(|S8F4+(5|T)d%eM1I58qrx-Zs&A=BBOF=$Ft_k;)A^#) z2Tv&On=yYauliE_$p5-r=dzvp$WXRXi*_|5$w^Fp9ZrosVU3k_(%YDE(gen9)!{TepwIwzs0dIs)gzfnQsT-7mD}9RDb`rrViHeTQdFcyzs%z zE^XFo)dFj+X=$uq)7Cp4TS`|`plUvB8PVHB!DT#U@<~noZj!azapj|s!AQxkV4bM=H1tZ}tDe$F`_. -Once properly configured, you should see something like this in rviz: +.. raw:: html -.. image:: perception_configuration_demo.png - :width: 700px + Getting Started --------------- -If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started `. - -Configuration -------------- - -In this section, we will walk through configuring the 3D sensors on your robot with MoveIt. The primary component in MoveIt that deals with 3D perception is the Occupancy Map Updater. The updater uses a plugin architecture to process different types of input. The currently available plugins in MoveIt are: - -* The PointCloud Occupancy Map Updater: which can take as input point clouds (``sensor_msgs/PointCloud2``) - -* The Depth Image Occupancy Map Updater: which can take as input Depth Images (``sensor_msgs/Image``) - -To use the Occupancy Map Updater, it is only necessary to set the appropriate parameters on the ROS parameter server and to call ``startWorldGeometryMonitor`` from your ``PlanningSceneMonitor``. This latter step is performed automatically when using Move Group functionality like in this tutorial's example, so in that case it is only necessary to set the parameters for the octomap and octomap updater. - -YAML Configuration file (Point Cloud) -+++++++++++++++++++++++++++++++++++++ - -We will have to generate a YAML configuration file for configuring the 3D sensors. Please see :panda_codedir:`this example file` for processing point clouds. - -Save this file in the config folder in the robot's moveit_config package with name "sensors_kinect_pointcloud.yaml": :: - - sensors: - - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater - point_cloud_topic: /camera/depth_registered/points - max_range: 5.0 - point_subsample: 1 - padding_offset: 0.1 - padding_scale: 1.0 - max_update_rate: 1.0 - filtered_cloud_topic: filtered_cloud - -**The general parameters are:** - -* *sensor_plugin*: The name of the plugin that we are using. -* *max_update_rate*: The octomap representation will be updated at rate less than or equal to this value. - -**Parameters specific to the Point cloud updater are:** - -* *point_cloud_topic*: This specifies the topic to listen on for a point cloud. - -* *max_range*: (in m) Points further than this will not be used. - -* *point_subsample*: Choose one of every *point_subsample* points. - -* *padding_offset*: The size of the padding (in cm). - -* *padding_scale*: The scale of the padding. - -* *filtered_cloud_topic*: The topic on which the filtered cloud will be published (mainly for debugging). The filtering cloud is the resultant cloud after self-filtering has been performed. - - -YAML Configuration file (Depth Map) -+++++++++++++++++++++++++++++++++++ - -We will have to generate a YAML configuration file for configuring the 3D sensors. An :panda_codedir:`example file for processing depth images ` can be found in the panda_moveit_config repository as well. -Save this file in the config folder in the robot's moveit_config package with name "sensors_kinect_depthmap.yaml": :: - - sensors: - - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - image_topic: /camera/depth_registered/image_raw - queue_size: 5 - near_clipping_plane_distance: 0.3 - far_clipping_plane_distance: 5.0 - shadow_threshold: 0.2 - padding_scale: 4.0 - padding_offset: 0.03 - max_update_rate: 1.0 - filtered_cloud_topic: filtered_cloud - -**The general parameters are:** - -* *sensor_plugin*: The name of the plugin that we are using. -* *max_update_rate*: The octomap representation will be updated at rate less than or equal to this value. - -**Parameters specific to the Depth Map updater are:** - -* *image_topic*: This specifies the topic to listen on for a depth image. - -* *queue_size*: The number of images to queue up. - -* *near_clipping_plane_distance*: The minimum distance before lack of visibility. - -* *far_clipping_plane_distance*: The maximum distance before lack of visibility. - -* *shadow_threshold*: The minimum brightness of the shadow map below an entity for its dynamic shadow to be visible - -* *padding_offset*: The size of the padding (in cm). - -* *padding_scale*: The scale of the padding. - -* *filtered_cloud_topic*: The topic on which the filtered cloud will be published (mainly for debugging). The filtering cloud is the resultant cloud after self-filtering has been performed. - - -Update the launch file -++++++++++++++++++++++ - -Add the YAML file to the launch script -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -You will now need to update the *sensor_manager.launch* file in the "launch" directory of your panda_moveit_config directory with this sensor information (this file is auto-generated by the Setup Assistant but is empty). You will need to add the following line into that file to configure the set of sensor sources for MoveIt to use: :: - - - -If you are using depthmap change the name of the yaml file to ``sensors_kinect_depthmap.yaml``. -Note that you will need to input the path to the right file you have created above. - -Octomap Configuration -^^^^^^^^^^^^^^^^^^^^^ -You will also need to configure the `Octomap `_ by adding the following lines into the *sensor_manager.launch*: :: +Even though you haven't completed :doc:`Getting Started ` ever, you can still run this tutorial's demo. Whereas, it is suggested to start with steps in :doc:`Getting Started ` for understanding what's going on in this tutorial. - - - +Get The Necessary 3D Pointcloud Data For Octomap Creation +--------------------------------------------------------- +In this tutorial, you can use `previously recorded 3D pointcloud data `_ or you can record your own bag file. For recording bag, firstly, it can be both ran ``depth_camera_envrionment.launch.py`` and recorded bag using following commands. -MoveIt uses an octree-based framework to represent the world around it. The *Octomap* parameters above are configuration parameters for this representation: - * *octomap_frame*: specifies the coordinate frame in which this representation will be stored. If you are working with a mobile robot, this frame should be a fixed frame in the world. - * *octomap_resolution*: specifies the resolution at which this representation is maintained (in meters). - * *max_range*: specifies the maximum range value to be applied for any sensor input to this node. +In shell 1, run this command: :: -Obstacle Avoidance ------------------- + ros2 launch moveit2_tutorials depth_camera_environment.launch.py -If you set the initial and the final location of the robot in a way that there is no straight path between them, then the planner will automatically avoid the octomap and plan around it. +In shell 2, run this command: :: -.. image:: obstacle_avoidance.gif - :width: 700px + ros2 bag record /camera_1/points /camera_2/points /tf /tf_static -Running the Interface -+++++++++++++++++++++ -Roslaunch the launch file to run the code directly from moveit_tutorials: :: +When the command in shell 1 is executed, it is opened a gazebo environment which contains two depth camera and a table in the middle of those cameras. This gazebo environment is used for getting 3d sensor data. Gazebo environment should be looked like following image. - roslaunch moveit_tutorials obstacle_avoidance_demo.launch +.. image:: images/perception_pipeline_demo_gazebo_screen.png -You should see something like the image shown at the beginning of this tutorial. -If not, you may have run into a `known OpenGL rendering issue `_. To work around the issue, you can force CPU-based rendering with this command: +.. image:: images/perception_pipeline_depth_camera_environment.png - export LIBGL_ALWAYS_SOFTWARE=1 +For more explanation of ``depth_camera_environment.launch.py``, you can look at comments in :codedir:`depth_camera_environment.launch.py ` on GitHub. -You can test obstacle avoidance for yourself by setting the goal state manually and then planning and executing. To learn how to do that look at :doc:`MoveIt Quickstart in RViz ` +.. tutorial-formatter:: ./launch/depth_camera_environment.launch.py -Detecting and Adding Object as Collision Object ------------------------------------------------ +For the commands in Shell 2, we must save both camera topics and tf topics due to the fact that MoveIt perception pipeline needs to listen TF's in order to convert the coordinates of pointcloud points according to ``world`` frame. Moreover, the reason of publishing static tf from world to camera frames in ``depth_camera_environment.launch.py`` is that it's necessary to determine transformation between robot and poincloud and that MoveIt's sensor plugins uses this transformation later. -In this section, we will demonstrate an example of extracting a cylinder from a pointcloud, computing relevant values and adding it as a collision object to the planning scene. -We will be working with point clouds but it can be implemented similarly with depth maps. +By the way, you can also use :codedir:`this rviz file ` on Github to visualize poincloud topics in rviz. -After running the code, you should be able to see something like this in rviz: +In next step, it will be used this recorded bag file for octomap creation. -.. image:: cylinder_collision_object.png - :width: 700px -Running the Code -++++++++++++++++ -Roslaunch the launch file to run the code directly from moveit_tutorials: :: +Configuration For 3D Sensors +---------------------------- +Now whatever you get bag file, you will see ``/camera_1/points``, ``/camera_2/points``, ``/tf`` and ``/tf_static`` in both way when played bag file. It should be created following config file for MoveIt to process these pointcloud topics in planning pipeline. You can also go to :codedir:`here ` for seeing all ``sensors_3d.yaml`` config file on Github. - roslaunch moveit_tutorials detect_and_add_cylinder_collision_object_demo.launch +.. tutorial-formatter:: config/sensors_3d.yaml -KNOWN ISSUE - You may see the following error when running the demo :: +sensors_3d.yaml: :: - ros.moveit_ros_planning.planning_scene_monitor: Transform error: Lookup would require extrapolation into the future. Requested time 1527473962.793050157 but the latest data is at time 1527473962.776993978, when looking up transform from frame [panda_link2] to frame [camera_rgb_optical_frame] - ros.moveit_ros_perception: Transform cache was not updated. Self-filtering may fail. + sensors: + - camera_1_pointcloud + - camera_2_pointcloud + camera_1_pointcloud: + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera_1/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera_1/filtered_points + camera_2_pointcloud: + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera_2/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera_2/filtered_points -We are working on fixing it, it should not break the working of the demo. -You can follow its status in the `issue tracker `_ +Running Demo +------------ +The last step is to run ``perception_pipeline_demo.launch.py`` and play the bag file we recorded previously. You can apply these substeps using following commands. -Relevant Code -+++++++++++++ -The entire code can be seen :codedir:`here` in the moveit_tutorials GitHub project. +In Shell 3: :: -The details regarding the implementation of each of the perception pipeline function have been omitted in this tutorial as they are well documented `here `_. + ros2 launch moveit2_tutorials perception_pipeline_demo.launch.py -.. |br| raw:: html +In Shell 4: :: -
    + ros2 bag play -r 5 --loop -.. |code_start| raw:: html +:codedir:`perception_pipeline_demo.launch.py ` is similar to :codedir:`demo.launch.py ` inside :doc:`MoveIt Quickstart in RViz ` except a couple of details. For ``perception_pipeline_demo.launch.py``, following lines is added to ``moveit_config``. - +You can find these additional lines in line 51, 52 and 53 inside ``perception_pipeline_demo.launch.py``: :: -.. |code_end| raw:: html + .sensors_3d(file_path = os.path.join( + get_package_share_directory("moveit2_tutorials"), + "config/sensors_3d.yaml")) - -.. tutorial-formatter:: ./src/cylinder_segment.cpp +Finally, all demo codes can be found in :codedir:`perception_pipeline's directory ` on Github. diff --git a/doc/examples/perception_pipeline/rviz2/depth_camera_environment.rviz b/doc/examples/perception_pipeline/rviz2/depth_camera_environment.rviz new file mode 100644 index 0000000000..1721a9f253 --- /dev/null +++ b/doc/examples/perception_pipeline/rviz2/depth_camera_environment.rviz @@ -0,0 +1,201 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera_1/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera_2/points + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.11660552024841309 + Y: -1.0815895795822144 + Z: 0.5037922859191895 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.0153981447219849 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.163585186004639 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 70 + Y: 60 diff --git a/doc/examples/perception_pipeline/src/bag_publisher_maintain_time.cpp b/doc/examples/perception_pipeline/src/bag_publisher_maintain_time.cpp deleted file mode 100644 index c813478dd3..0000000000 --- a/doc/examples/perception_pipeline/src/bag_publisher_maintain_time.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2018, Ridhwan Luthra. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Ridhwan Luthra nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -/* Author: Ridhwan Luthra */ - -#include "ros/ros.h" -#include -#include -#include -#include - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "bag_publisher_maintain_time"); - ros::NodeHandle nh; - - ros::Publisher point_cloud_publisher = nh.advertise("/camera/depth_registered/points", 1); - ros::Rate loop_rate(0.1); - - // Variable holding the rosbag containing point cloud data. - rosbag::Bag bagfile; - std::string path = ros::package::getPath("moveit_tutorials"); - path += "/doc/perception_pipeline/bags/perception_tutorial.bag"; - bagfile.open(path, rosbag::bagmode::Read); - - std::vector topics; - topics.push_back("/camera/depth_registered/points"); - - // Iterator for topics in bag. - rosbag::View bagtopics_iter(bagfile, rosbag::TopicQuery(topics)); - - for (auto const msg : bagtopics_iter) - { - sensor_msgs::PointCloud2::Ptr point_cloud_ptr = msg.instantiate(); - if (point_cloud_ptr == nullptr) - { - std::cout << "error" << std::endl; - break; - } - - while (ros::ok()) - { - point_cloud_ptr->header.stamp = ros::Time::now(); - point_cloud_publisher.publish(*point_cloud_ptr); - ros::spinOnce(); - loop_rate.sleep(); - } - } - bagfile.close(); - return 0; -} diff --git a/doc/examples/perception_pipeline/src/cylinder_segment.cpp b/doc/examples/perception_pipeline/src/cylinder_segment.cpp deleted file mode 100644 index 99a9576d3a..0000000000 --- a/doc/examples/perception_pipeline/src/cylinder_segment.cpp +++ /dev/null @@ -1,370 +0,0 @@ -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2018, Ridhwan Luthra. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Ridhwan Luthra nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -/* Author: Ridhwan Luthra */ - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -class CylinderSegment -{ -public: - CylinderSegment() - { - ros::NodeHandle nh; - // Initialize subscriber to the raw point cloud - ros::Subscriber sub = nh.subscribe("/camera/depth_registered/points", 1, &CylinderSegment::cloudCB, this); - // Spin - ros::spin(); - } - - /** \brief Given the parameters of the cylinder add the cylinder to the planning scene. - @param cylinder_params - Pointer to the struct AddCylinderParams. */ - void addCylinder() - { - moveit::planning_interface::PlanningSceneInterface planning_scene_interface; - // BEGIN_SUB_TUTORIAL add_cylinder - // - // Adding Cylinder to Planning Scene - // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - // Define a collision object ROS message. - moveit_msgs::CollisionObject collision_object; - collision_object.header.frame_id = "camera_rgb_optical_frame"; - collision_object.id = "cylinder"; - - // Define a cylinder which will be added to the world. - shape_msgs::SolidPrimitive primitive; - primitive.type = primitive.CYLINDER; - primitive.dimensions.resize(2); - /* Setting height of cylinder. */ - primitive.dimensions[0] = cylinder_params->height; - /* Setting radius of cylinder. */ - primitive.dimensions[1] = cylinder_params->radius; - - // Define a pose for the cylinder (specified relative to frame_id). - geometry_msgs::Pose cylinder_pose; - /* Computing and setting quaternion from axis angle representation. */ - Eigen::Vector3d cylinder_z_direction(cylinder_params->direction_vec[0], cylinder_params->direction_vec[1], - cylinder_params->direction_vec[2]); - Eigen::Vector3d origin_z_direction(0., 0., 1.); - Eigen::Vector3d axis; - axis = origin_z_direction.cross(cylinder_z_direction); - axis.normalize(); - double angle = acos(cylinder_z_direction.dot(origin_z_direction)); - cylinder_pose.orientation.x = axis.x() * sin(angle / 2); - cylinder_pose.orientation.y = axis.y() * sin(angle / 2); - cylinder_pose.orientation.z = axis.z() * sin(angle / 2); - cylinder_pose.orientation.w = cos(angle / 2); - - // Setting the position of cylinder. - cylinder_pose.position.x = cylinder_params->center_pt[0]; - cylinder_pose.position.y = cylinder_params->center_pt[1]; - cylinder_pose.position.z = cylinder_params->center_pt[2]; - - // Add cylinder as collision object - collision_object.primitives.push_back(primitive); - collision_object.primitive_poses.push_back(cylinder_pose); - collision_object.operation = collision_object.ADD; - planning_scene_interface.applyCollisionObject(collision_object); - // END_SUB_TUTORIAL - } - - /** \brief Given the pointcloud containing just the cylinder, compute its center point and its height and store in - cylinder_params. - @param cloud - Pointcloud containing just the cylinder. - @param cylinder_params - Pointer to the struct AddCylinderParams. */ - void extractLocationHeight(const pcl::PointCloud::Ptr& cloud) - { - double max_angle_y = -std::numeric_limits::infinity(); - double min_angle_y = std::numeric_limits::infinity(); - - double lowest_point[3] = { 0.0, 0.0, 0.0 }; - double highest_point[3] = { 0.0, 0.0, 0.0 }; - // BEGIN_SUB_TUTORIAL extract_location_height - // Consider a point inside the point cloud and imagine that point is formed on a XY plane where the perpendicular - // distance from the plane to the camera is Z. |br| - // The perpendicular drawn from the camera to the plane hits at center of the XY plane. |br| - // We have the x and y coordinate of the point which is formed on the XY plane. |br| - // X is the horizontal axis and Y is the vertical axis. |br| - // C is the center of the plane which is Z meter away from the center of camera and A is any point on the plane. - // |br| - // Now we know Z is the perpendicular distance from the point to the camera. |br| - // If you need to find the actual distance d from the point to the camera, you should calculate the hypotenuse- - // |code_start| hypot(point.z, point.x);\ |code_end| |br| - // angle the point made horizontally- |code_start| atan2(point.z,point.x);\ |code_end| |br| - // angle the point made Vertically- |code_start| atan2(point.z, point.y);\ |code_end| |br| - // Loop over the entire pointcloud. - for (auto const point : cloud->points) - { - const double angle = atan2(point.z, point.y); - /* Find the coordinates of the highest point */ - if (angle < min_angle_y) - { - min_angle_y = angle; - lowest_point[0] = point.x; - lowest_point[1] = point.y; - lowest_point[2] = point.z; - } - /* Find the coordinates of the lowest point */ - else if (angle > max_angle_y) - { - max_angle_y = angle; - highest_point[0] = point.x; - highest_point[1] = point.y; - highest_point[2] = point.z; - } - } - /* Store the center point of cylinder */ - cylinder_params->center_pt[0] = (highest_point[0] + lowest_point[0]) / 2; - cylinder_params->center_pt[1] = (highest_point[1] + lowest_point[1]) / 2; - cylinder_params->center_pt[2] = (highest_point[2] + lowest_point[2]) / 2; - /* Store the height of cylinder */ - cylinder_params->height = - sqrt(pow((lowest_point[0] - highest_point[0]), 2) + pow((lowest_point[1] - highest_point[1]), 2) + - pow((lowest_point[2] - highest_point[2]), 2)); - // END_SUB_TUTORIAL - } - - /** \brief Given a pointcloud extract the ROI defined by the user. - @param cloud - Pointcloud whose ROI needs to be extracted. */ - void passThroughFilter(const pcl::PointCloud::Ptr& cloud) - { - pcl::PassThrough pass; - pass.setInputCloud(cloud); - pass.setFilterFieldName("z"); - // min and max values in z axis to keep - pass.setFilterLimits(0.3, 1.1); - pass.filter(*cloud); - } - - /** \brief Given the pointcloud and pointer cloud_normals compute the point normals and store in cloud_normals. - @param cloud - Pointcloud. - @param cloud_normals - The point normals once computer will be stored in this. */ - void computeNormals(const pcl::PointCloud::Ptr& cloud, - const pcl::PointCloud::Ptr& cloud_normals) - { - pcl::search::KdTree::Ptr tree(new pcl::search::KdTree()); - pcl::NormalEstimation ne; - ne.setSearchMethod(tree); - ne.setInputCloud(cloud); - // Set the number of k nearest neighbors to use for the feature estimation. - ne.setKSearch(50); - ne.compute(*cloud_normals); - } - - /** \brief Given the point normals and point indices, extract the normals for the indices. - @param cloud_normals - Point normals. - @param inliers_plane - Indices whose normals need to be extracted. */ - void extractNormals(const pcl::PointCloud::Ptr& cloud_normals, - const pcl::PointIndices::Ptr& inliers_plane) - { - pcl::ExtractIndices extract_normals; - extract_normals.setNegative(true); - extract_normals.setInputCloud(cloud_normals); - extract_normals.setIndices(inliers_plane); - extract_normals.filter(*cloud_normals); - } - - /** \brief Given the pointcloud and indices of the plane, remove the plannar region from the pointcloud. - @param cloud - Pointcloud. - @param inliers_plane - Indices representing the plane. */ - void removePlaneSurface(const pcl::PointCloud::Ptr& cloud, - const pcl::PointIndices::Ptr& inliers_plane) - { - // create a SAC segmenter without using normals - pcl::SACSegmentation segmentor; - segmentor.setOptimizeCoefficients(true); - segmentor.setModelType(pcl::SACMODEL_PLANE); - segmentor.setMethodType(pcl::SAC_RANSAC); - /* run at max 1000 iterations before giving up */ - segmentor.setMaxIterations(1000); - /* tolerance for variation from model */ - segmentor.setDistanceThreshold(0.01); - segmentor.setInputCloud(cloud); - /* Create the segmentation object for the planar model and set all the parameters */ - pcl::ModelCoefficients::Ptr coefficients_plane(new pcl::ModelCoefficients); - segmentor.segment(*inliers_plane, *coefficients_plane); - /* Extract the planar inliers from the input cloud */ - pcl::ExtractIndices extract_indices; - extract_indices.setInputCloud(cloud); - extract_indices.setIndices(inliers_plane); - /* Remove the planar inliers, extract the rest */ - extract_indices.setNegative(true); - extract_indices.filter(*cloud); - } - - /** \brief Given the pointcloud, pointer to pcl::ModelCoefficients and point normals extract the cylinder from the - pointcloud and store the cylinder parameters in coefficients_cylinder. - @param cloud - Pointcloud whose plane is removed. - @param coefficients_cylinder - Cylinder parameters used to define an infinite cylinder will be stored here. - @param cloud_normals - Point normals corresponding to the plane on which cylinder is kept */ - void extractCylinder(const pcl::PointCloud::Ptr& cloud, - const pcl::ModelCoefficients::Ptr& coefficients_cylinder, - const pcl::PointCloud::Ptr& cloud_normals) - { - // Create the segmentation object for cylinder segmentation and set all the parameters - pcl::SACSegmentationFromNormals segmentor; - pcl::PointIndices::Ptr inliers_cylinder(new pcl::PointIndices); - segmentor.setOptimizeCoefficients(true); - segmentor.setModelType(pcl::SACMODEL_CYLINDER); - segmentor.setMethodType(pcl::SAC_RANSAC); - // Set the normal angular distance weight - segmentor.setNormalDistanceWeight(0.1); - // run at max 1000 iterations before giving up - segmentor.setMaxIterations(10000); - // tolerance for variation from model - segmentor.setDistanceThreshold(0.05); - // min max values of radius in meters to consider - segmentor.setRadiusLimits(0, 1); - segmentor.setInputCloud(cloud); - segmentor.setInputNormals(cloud_normals); - - // Obtain the cylinder inliers and coefficients - segmentor.segment(*inliers_cylinder, *coefficients_cylinder); - - // Extract the cylinder inliers from the input cloud - pcl::ExtractIndices extract; - extract.setInputCloud(cloud); - extract.setIndices(inliers_cylinder); - extract.setNegative(false); - extract.filter(*cloud); - } - - void cloudCB(const sensor_msgs::PointCloud2ConstPtr& input) - { - // BEGIN_SUB_TUTORIAL callback - // - // Perception Related - // ^^^^^^^^^^^^^^^^^^ - // First, convert from sensor_msgs to pcl::PointXYZRGB which is needed for most of the processing. - pcl::PointCloud::Ptr cloud(new pcl::PointCloud); - pcl::fromROSMsg(*input, *cloud); - // Using passthough filter to get region of interest. A passthrough filter just eliminates the point cloud values - // which do not lie in the user specified range. - passThroughFilter(cloud); - // Declare normals and call function to compute point normals. - pcl::PointCloud::Ptr cloud_normals(new pcl::PointCloud); - computeNormals(cloud, cloud_normals); - // inliers_plane will hold the indices of the point cloud that correspond to a plane. - pcl::PointIndices::Ptr inliers_plane(new pcl::PointIndices); - // Detect and eliminate the plane on which the cylinder is kept to ease the process of finding the cylinder. - removePlaneSurface(cloud, inliers_plane); - // We had calculated the point normals in a previous call to computeNormals, - // now we will be extracting the normals that correspond to the plane on which cylinder lies. - // It will be used to extract the cylinder. - extractNormals(cloud_normals, inliers_plane); - // ModelCoefficients will hold the parameters using which we can define a cylinder of infinite length. - // It has a public attribute |code_start| values\ |code_end| of type |code_start| std::vector\ |code_end|\ . - // |br| - // |code_start| Values[0-2]\ |code_end| hold a point on the center line of the cylinder. |br| - // |code_start| Values[3-5]\ |code_end| hold direction vector of the z-axis. |br| - // |code_start| Values[6]\ |code_end| is the radius of the cylinder. - pcl::ModelCoefficients::Ptr coefficients_cylinder(new pcl::ModelCoefficients); - /* Extract the cylinder using SACSegmentation. */ - extractCylinder(cloud, coefficients_cylinder, cloud_normals); - // END_SUB_TUTORIAL - if (cloud->points.empty()) - { - ROS_ERROR_STREAM_NAMED("cylinder_segment", "Can't find the cylindrical component."); - return; - } - if (points_not_found) - { - // BEGIN_TUTORIAL - // CALL_SUB_TUTORIAL callback - // - // Storing Relevant Cylinder Values - // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - // The information that we have in |code_start| coefficients_cylinder\ |code_end| is not enough to define our - // cylinder. - // It does not have the actual location of the cylinder nor the actual height. |br| - // We define a struct to hold the parameters that are actually needed for defining a collision object completely. - // |br| - // CALL_SUB_TUTORIAL param_struct - /* Store the radius of the cylinder. */ - cylinder_params->radius = coefficients_cylinder->values[6]; - /* Store direction vector of z-axis of cylinder. */ - cylinder_params->direction_vec[0] = coefficients_cylinder->values[3]; - cylinder_params->direction_vec[1] = coefficients_cylinder->values[4]; - cylinder_params->direction_vec[2] = coefficients_cylinder->values[5]; - // - // Extracting Location and Height - // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - // Compute the center point of the cylinder using standard geometry - extractLocationHeight(cloud); - // CALL_SUB_TUTORIAL extract_location_height - // Use the parameters extracted to add the cylinder to the planning scene as a collision object. - addCylinder(); - // CALL_SUB_TUTORIAL add_cylinder - // END_TUTORIAL - points_not_found = false; - } - } - -private: - // BEGIN_SUB_TUTORIAL param_struct - // There are 4 fields and a total of 7 parameters used to define this. - struct AddCylinderParams - { - /* Radius of the cylinder. */ - double radius; - /* Direction vector towards the z-axis of the cylinder. */ - double direction_vec[3]; - /* Center point of the cylinder. */ - double center_pt[3]; - /* Height of the cylinder. */ - double height; - }; - // Declare a variable of type AddCylinderParams and store relevant values from ModelCoefficients. - AddCylinderParams* cylinder_params; - // END_SUB_TUTORIAL - - bool points_not_found = true; -}; - -int main(int argc, char** argv) -{ - // Initialize ROS - ros::init(argc, argv, "cylinder_segment"); - // Start the segmentor - CylinderSegment(); -} diff --git a/doc/examples/perception_pipeline/urdf/realsense_d435/camera.urdf.xacro b/doc/examples/perception_pipeline/urdf/realsense_d435/camera.urdf.xacro new file mode 100644 index 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b/doc/examples/perception_pipeline/config/sensors_3d.yaml @@ -0,0 +1,21 @@ +sensors: + - camera_1_pointcloud + - camera_2_pointcloud +camera_1_pointcloud: + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera_1/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera_1/filtered_points +camera_2_pointcloud: + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera_2/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera_2/filtered_points diff --git a/doc/examples/perception_pipeline/cylinder_collision_object.png b/doc/examples/perception_pipeline/cylinder_collision_object.png deleted file mode 100644 index bd68457421f6c57e44cde055c785682af8461887..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 220749 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