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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| #!/bin/sh | ||
| set -x | ||
| sudo apt-get update && sudo apt-get install libgl1-mesa-glx xvfb -y | ||
| Xvfb :1 -screen 0 1024x768x24 > /dev/null 2>&1 & | ||
| # give xvfb some time to start | ||
| sleep 3 | ||
| set +x |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -23,6 +23,7 @@ jobs: | |
| image: robotlocomotion/drake:${{matrix.os_code_name}} | ||
| env: | ||
| PYTHONPATH: | ||
| DISPLAY: ':1.0' | ||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| - name: Simplify apt upgrades | ||
|
|
@@ -33,6 +34,8 @@ jobs: | |
| use-ros2-testing: "true" | ||
| - name: Cope with Python 2 pollution | ||
| run: apt-get update && apt-get install -y python-is-python3 | ||
| - name: Configure display | ||
| run: .github/config_display.sh | ||
| - name: Build and test all packages | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
|
|
@@ -51,6 +54,7 @@ jobs: | |
| image: robotlocomotion/drake:${{matrix.os_code_name}} | ||
| env: | ||
| PYTHONPATH: | ||
| DISPLAY: ':1.0' | ||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| - name: Simplify apt upgrades | ||
|
|
@@ -80,5 +84,6 @@ jobs: | |
| colcon build --event-handlers console_cohesion+ | ||
| - name: Test all packages | ||
| run: | | ||
| .github/config_display.sh | ||
| . /opt/ros/${{matrix.ros_distro}}/setup.sh | ||
| colcon test --event-handlers console_cohesion+ | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,85 @@ | ||
| #include "drake_ros/core/camera_info_system.h" | ||
|
|
||
| #include <rclcpp/time.hpp> | ||
|
|
||
| using drake_ros::core::CameraInfoSystem; | ||
| using drake_ros::core::RosPublisherSystem; | ||
|
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||
| CameraInfoSystem::CameraInfoSystem() : camera_info(1, 1, 1, 1, 0.5, 0.5) { | ||
| DeclareAbstractOutputPort("CameraInfoSystem", | ||
| &CameraInfoSystem::CalcCameraInfo); | ||
| } | ||
|
|
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| CameraInfoSystem::~CameraInfoSystem() {} | ||
|
|
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| void CameraInfoSystem::CalcCameraInfo( | ||
| const drake::systems::Context<double>& context, | ||
| sensor_msgs::msg::CameraInfo* output_value) const { | ||
| rclcpp::Time now{0, 0, RCL_ROS_TIME}; | ||
| now += rclcpp::Duration::from_seconds(context.get_time()); | ||
| output_value->header.stamp = now; | ||
| output_value->header.frame_id = "CartPole/camera_optical"; | ||
|
|
||
| output_value->height = this->camera_info.height(); | ||
| output_value->width = this->camera_info.width(); | ||
| output_value->distortion_model = "plumb_bob"; | ||
|
|
||
| // distortion isn't supported. Setting this values to zero | ||
| output_value->d.push_back(0); | ||
| output_value->d.push_back(0); | ||
| output_value->d.push_back(0); | ||
| output_value->d.push_back(0); | ||
| output_value->d.push_back(0); | ||
|
|
||
| output_value->r[0] = 1; | ||
| output_value->r[1] = 0; | ||
| output_value->r[2] = 0; | ||
| output_value->r[3] = 0; | ||
| output_value->r[4] = 1; | ||
| output_value->r[5] = 0; | ||
| output_value->r[6] = 0; | ||
| output_value->r[7] = 0; | ||
| output_value->r[8] = 1; | ||
|
|
||
| // │ f_x 0 c_x │ | ||
| // K = │ 0 f_y c_y │ | ||
| // │ 0 0 1 │ | ||
|
|
||
| // │ f_x 0 c_x Tx│ | ||
| // P = │ 0 f_y c_y Ty│ | ||
| // │ 0 0 1 0│ | ||
| output_value->k[0] = this->camera_info.focal_x(); | ||
| output_value->k[2] = this->camera_info.center_x(); | ||
| output_value->k[4] = this->camera_info.focal_y(); | ||
| output_value->k[5] = this->camera_info.center_y(); | ||
| output_value->k[8] = 1.0; | ||
|
|
||
| output_value->p[0] = this->camera_info.focal_x(); | ||
| output_value->p[2] = this->camera_info.center_x(); | ||
| output_value->p[3] = 0; | ||
| output_value->p[5] = this->camera_info.focal_y(); | ||
| output_value->p[6] = this->camera_info.center_y(); | ||
| output_value->p[10] = 1.0; | ||
| } | ||
|
|
||
| void CameraInfoSystem::SetCameraInfo(const CameraInfo& _camera_info) { | ||
| this->camera_info = _camera_info; | ||
| } | ||
|
|
||
| std::tuple<CameraInfoSystem*, RosPublisherSystem*> | ||
| CameraInfoSystem::AddToBuilder( | ||
| drake::systems::DiagramBuilder<double>* builder, DrakeRos* ros, | ||
| const std::string& topic_name, const rclcpp::QoS& qos, | ||
| const std::unordered_set<drake::systems::TriggerType>& publish_triggers, | ||
| double publish_period) { | ||
| auto* camera_info_system = builder->AddSystem<CameraInfoSystem>(); | ||
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| auto* pub_system = | ||
| builder->AddSystem(RosPublisherSystem::Make<sensor_msgs::msg::CameraInfo>( | ||
| topic_name, qos, ros, publish_triggers, publish_period)); | ||
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| builder->Connect(camera_info_system->get_output_port(), | ||
| pub_system->get_input_port()); | ||
|
|
||
| return {camera_info_system, pub_system}; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| #pragma once | ||
|
|
||
| #include <memory> | ||
| #include <string> | ||
| #include <tuple> | ||
| #include <unordered_set> | ||
|
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| #include <drake/systems/framework/diagram_builder.h> | ||
| #include <drake/systems/framework/leaf_system.h> | ||
| #include <drake/systems/sensors/camera_info.h> | ||
| #include <drake_ros/core/ros_publisher_system.h> | ||
| #include <rclcpp/qos.hpp> | ||
| #include <sensor_msgs/msg/camera_info.hpp> | ||
|
|
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| using drake::systems::sensors::CameraInfo; | ||
|
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| namespace drake_ros::core { | ||
| /** A system that converts drake's camera info to a sensor_msgs/msg/CameraInfo | ||
| * message. | ||
| */ | ||
| class CameraInfoSystem : public drake::systems::LeafSystem<double> { | ||
| public: | ||
| /** A constructor for the camera info system. | ||
| */ | ||
| CameraInfoSystem(); | ||
|
|
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| ~CameraInfoSystem() override; | ||
|
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| void SetCameraInfo(const CameraInfo& _camera_info); | ||
|
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| /** Add a CameraInfoSystem and RosPublisherSystem to a diagram builder. | ||
| * | ||
| * This adds both a CameraInfoSystem and a RosPublisherSystem that publishes | ||
| * time to a `/image/camera_info` topic. All nodes should have their | ||
| * `use_sim_time` parameter set to `True` so they use the published topic as | ||
| * their source of time. | ||
| */ | ||
| static std::tuple<CameraInfoSystem*, RosPublisherSystem*> AddToBuilder( | ||
| drake::systems::DiagramBuilder<double>* builder, DrakeRos* ros, | ||
| const std::string& topic_name = "/image/camera_info", | ||
| const rclcpp::QoS& qos = rclcpp::SystemDefaultsQoS(), | ||
| const std::unordered_set<drake::systems::TriggerType>& publish_triggers = | ||
| RosPublisherSystem::kDefaultTriggerTypes, | ||
| double publish_period = 0.0); | ||
|
|
||
| private: | ||
| CameraInfo camera_info; | ||
|
|
||
| protected: | ||
| void CalcCameraInfo(const drake::systems::Context<double>& context, | ||
| sensor_msgs::msg::CameraInfo* output_value) const; | ||
| }; | ||
| } // namespace drake_ros::core |
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