├── LICENSE
├── README.md
├── oakd_description
    ├── CMakeLists.txt
    ├── launch
    │   └── description.launch
    ├── meshes
    │   ├── OAK-D-LITE.dae
    │   ├── OAK-D-POE.dae
    │   └── OAK-D.dae
    ├── package.xml
    └── urdf
    │   ├── oakd-lite.urdf.xacro
    │   ├── oakd-poe.urdf.xacro
    │   └── oakd.urdf.xacro
└── oakd_gazebo
    ├── CMakeLists.txt
    ├── launch
        ├── oakd_empty_world.launch
        └── oakd_spawn.launch
    ├── package.xml
    └── worlds
        └── empty.world


/LICENSE:
--------------------------------------------------------------------------------
 1 | BSD 2-Clause License
 2 | 
 3 | Copyright (c) 2022, Jet Dillo
 4 | All rights reserved.
 5 | 
 6 | Redistribution and use in source and binary forms, with or without
 7 | modification, are permitted provided that the following conditions are met:
 8 | 
 9 | 1. Redistributions of source code must retain the above copyright notice, this
10 |    list of conditions and the following disclaimer.
11 | 
12 | 2. Redistributions in binary form must reproduce the above copyright notice,
13 |    this list of conditions and the following disclaimer in the documentation
14 |    and/or other materials provided with the distribution.
15 | 
16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
17 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
18 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
20 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
21 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
22 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
23 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
24 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
25 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # oakd_models
 2 | URDF models, materials and Gazebo demo worlds for the Luxonis OAKD v1 Stereo AI Camera. 
 3 | You will need to run stereo_image_proc along with this model to get disparity images and pointcloud. 
 4 | 
 5 | I've validated this model on the Gazebo simulation of my rover, [Tenacity](https://github.com/jetdillo/tenacity_rover), but haven't tested it extensively on other simulations/worlds. \
 6 | This replicates the OAKD B&W cameras as described on the [Luxonis Hardware page about the OAK-D](https://docs.luxonis.com/projects/hardware/en/latest/pages/BW1098OAK.html#depth-perception) along with the center RGB camera.
 7 |  
 8 | You should be able to just drop this into an existing URDF as a xacro macro.
 9 | Go check out [Tenacity](https://github.com/jetdillo/tenacity_rover) if you need an example of how to do that. 
10 | If you don't know how to work with XACRO The [ROS Wiki](wiki.ros.org) has a good [tutorial](http://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File) on the subject. 
11 | 
12 | This is an initial release of this model, so there might be bugs, inefficiencies, parameters that could be better specified, etc. 
13 | I'm open to feedback, bugs, PRs, etc. 
14 | 
15 | Thanks,
16 | ----Steve " 'dillo" Okay
17 | 


--------------------------------------------------------------------------------
/oakd_description/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(oakd_description)
 3 | 
 4 | find_package(catkin REQUIRED COMPONENTS
 5 |     urdf
 6 |     xacro
 7 | )
 8 | 
 9 | catkin_package(
10 |     CATKIN_DEPENDS
11 |         urdf
12 |         xacro
13 | )
14 | 
15 | include_directories(
16 |     ${catkin_INCLUDE_DIRS}
17 | )
18 | 
19 | install(DIRECTORY launch meshes urdf
20 |     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
21 | )
22 | 


--------------------------------------------------------------------------------
/oakd_description/launch/description.launch:
--------------------------------------------------------------------------------
1 | <!-- Load the robot description to the ROS parameter server.
2 | -->
3 | <launch>
4 |     <arg name="model" default="$(find oakd_description)/urdf/oakd.urdf.xacro"/>
5 | 
6 |     <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
7 | </launch>
8 | 


--------------------------------------------------------------------------------
/oakd_description/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |     <name>oakd_description</name>
 4 |     <version>0.2.2</version>
 5 |     <description>Gazebo simulation launch files for the Luxonix OAKD AI Camera </description>
 6 |     <maintainer email="espressobot@gmail.com">Steve Okay</maintainer>
 7 |     <license>BSD-3-Clause</license>
 8 |     <url type="website">https://familiarrobotics.com/</url>
 9 |     <url type="repository">https://github.com/jetdillo/oakd</url>
10 |     <url type="bugtracker">https://github.com/jetdillo/oakd/issues</url>
11 |     <author email="espressobot@gmail.com">Steve Okay</author>
12 |     <buildtool_depend>catkin</buildtool_depend>
13 |    <!-- <exec_depend>oakd_description</exec_depend> -->
14 |     <exec_depend>description_ros</exec_depend>
15 |     <exec_depend>description_ros_control</exec_depend>
16 |     <depend>urdf</depend>
17 |     <depend>xacro</depend>
18 |     <exec_depend>roslaunch</exec_depend>
19 | 
20 |     <export>
21 |         <description_ros description_model_path="${prefix}/models"/>
22 |     </export>
23 | </package>
24 | 


--------------------------------------------------------------------------------
/oakd_description/urdf/oakd-lite.urdf.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?>
  2 | 
  3 | <!--  xacro macros for oakd_lite mount -->
  4 | <robot name="oakd_lite" xmlns:xacro="http://ros.org/wiki/xacro">
  5 |       <xacro:macro name="oakd_lite_link" params="mount_point">
  6 |       <xacro:property name="oakd_length" value="0.091" />
  7 |       <xacro:property name="oakd_width" value="0.028" />
  8 |       <xacro:property name="oakd_depth" value="0.0175" />
  9 |       <xacro:property name="oakd_mass" value="0.061" />
 10 | 
 11 |       <link name="oakd_lite_${mount_point}">
 12 |              <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
 13 |           <visual>
 14 |               <origin rpy="0 0 0" xyz="0 0 0" />
 15 |               <geometry>
 16 |                       <mesh filename="package://oakd_description/meshes/sensors/OAK-D-LITE.dae" />
 17 |               </geometry>
 18 |                <material name="black" />
 19 |           </visual>
 20 |           <collision>
 21 |               <origin rpy="0 0 0" xyz="0 0 0" />
 22 |               <geometry>
 23 |                   <box size="${oakd_length} ${oakd_width} ${oakd_depth}"/>
 24 |               </geometry>
 25 |           </collision>
 26 |           <xacro:solid_cuboid_inertial
 27 |               rpy="0 0 0" xyz="0 0 0"
 28 |               mass="${oakd_mass}"
 29 |               x="${oakd_length}" y="${oakd_width}" z="${oakd_depth}" />
 30 |       </link>
 31 |       
 32 |       <!-- Add dummy joint for camera_optical_frame to link back to base_link -->
 33 | 
 34 |       <joint name="camera_optical_joint" type="fixed">
 35 |       <!-- Point cloud frustrum is 90 degrees off from visual frame --> 
 36 |            <origin rpy="-1.57079632769 0 -1.570796332769" xyz="0 0 0" />
 37 | 	   <parent link="oakd_lite_${mount_point}" />
 38 | 	   <child link="camera_optical_frame" />
 39 | 	</joint> 
 40 | 
 41 | 	<!-- Add dummy link for camera_optical_frame to link back to base_link -->
 42 |         <link name="camera_optical_frame">
 43 |         <inertial>
 44 | 	  <mass value="0.001" />
 45 | 	  <origin xyz="0 0 0" />
 46 | 	  <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
 47 |           </inertial>
 48 |   </link>
 49 | 
 50 |   <!-- Dummy joints for rgb camera to link back to base_link --> 
 51 |         <joint name="camera_rgb_optical_joint" type="fixed">
 52 |            <origin rpy="0 0 0" xyz="0 0 0" />
 53 | 	   <parent link="oakd_lite_${mount_point}" />
 54 | 	   <child link="camera_rgb_optical_frame" />
 55 | 	</joint> 
 56 | 
 57 | 	<!-- Add dummy link for camera_optical_frame to link back to base_link -->
 58 |         <link name="camera_rgb_optical_frame">
 59 |         <inertial>
 60 | 	  <mass value="0.001" />
 61 | 	  <origin xyz="0 0 0" />
 62 | 	  <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
 63 |           </inertial>
 64 |   </link>
 65 | 
 66 |   <!-- Gazebo plugin for greyscale left/right stereo pairs -->
 67 | 
 68 |       <gazebo reference="oakd_lite_${mount_point}">
 69 |     <material>Gazebo/DarkGrey</material>
 70 |     <sensor type="multicamera" name="stereo_camera">
 71 |       <update_rate>30.0</update_rate>
 72 |       <camera name="left">
 73 |         <horizontal_fov>1.2566</horizontal_fov>
 74 |         <image>
 75 |           <width>1200</width>
 76 |           <height>800</height>
 77 | 	  <format>L8</format> 
 78 | 	  <!--   <format>R8G8B8</format> -->
 79 |         </image>
 80 |         <clip>
 81 |           <near>0.3</near>
 82 |           <far>35</far>
 83 |         </clip>
 84 |         <noise>
 85 |           <type>gaussian</type>
 86 |           <mean>0.0</mean>
 87 |           <stddev>0.007</stddev>
 88 |         </noise>
 89 |       </camera>
 90 |       <camera name="right">
 91 |         <pose>0 -0.07 0 0 0 0</pose>
 92 |         <horizontal_fov>1.1.2566</horizontal_fov>
 93 |         <image>
 94 |           <width>1200</width>
 95 |           <height>800</height>
 96 | 	  <format>L8</format> 
 97 | 	  <!--   <format>R8G8B8</format> -->
 98 |         </image>
 99 |         <clip>
100 |           <near>0.3</near>
101 |           <far>35</far>
102 |         </clip>
103 |         <noise>
104 |           <type>gaussian</type>
105 |           <mean>0.0</mean>
106 |           <stddev>0.007</stddev>
107 |         </noise>
108 |       </camera>
109 |       <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
110 |         <alwaysOn>true</alwaysOn>
111 |         <updateRate>0.0</updateRate>
112 | 	<cameraName>oakd_lite_${mount_point}/camera</cameraName>
113 |         <imageTopicName>image_raw</imageTopicName>
114 |         <cameraInfoTopicName>camera_info</cameraInfoTopicName>
115 | 	<frameName>camera_optical_frame</frameName>
116 |         <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
117 |         <hackBaseline>0.075</hackBaseline>
118 |         <distortionK1>0.0</distortionK1>
119 |         <distortionK2>0.0</distortionK2>
120 |         <distortionK3>0.0</distortionK3>
121 |         <distortionT1>0.0</distortionT1>
122 |         <distortionT2>0.0</distortionT2>
123 |       </plugin>
124 |     </sensor>
125 |   </gazebo> 
126 | 
127 |  <!-- Gazebo plugin for center RGB camera -->
128 | 
129 |    <gazebo reference="oakd_lite_${mount_point}">
130 |       <material>Gazebo/White</material>
131 |       <sensor type="camera" name="oakd_lite_rgb_${mount_point}">
132 |       <update_rate>30.0</update_rate>
133 |       <camera name="head">
134 |         <horizontal_fov>1.3962634</horizontal_fov>
135 |         <image>
136 |           <width>800</width>
137 |           <height>800</height>
138 |           <format>R8G8B8</format>
139 |         </image>
140 |         <clip>
141 |           <near>0.02</near>
142 |           <far>300</far>
143 |         </clip>
144 |         <noise>
145 |           <type>gaussian</type>
146 |           <!-- Noise is sampled independently per pixel on each frame.
147 |                That pixel's noise value is added to each of its color
148 |                channels, which at that point lie in the range [0,1]. -->
149 |           <mean>0.0</mean>
150 |           <stddev>0.007</stddev>
151 |         </noise>
152 |       </camera>
153 |       <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
154 |         <alwaysOn>true</alwaysOn>
155 |         <updateRate>0.0</updateRate>
156 |         <cameraName>oakd_lite_rgb_${mount_point}</cameraName>
157 |         <imageTopicName>image_raw</imageTopicName>
158 |         <cameraInfoTopicName>camera_info</cameraInfoTopicName>
159 |         <frameName>camera_rgb_link_optical</frameName>
160 |         <!-- setting hackBaseline to anything but 0.0 will cause a misalignment
161 |             between the gazebo sensor image and the frame it is supposed to
162 |             be attached to -->
163 |         <hackBaseline>0.0</hackBaseline>
164 |         <distortionK1>0.0</distortionK1>
165 |         <distortionK2>0.0</distortionK2>
166 |         <distortionK3>0.0</distortionK3>
167 |         <distortionT1>0.0</distortionT1>
168 |         <distortionT2>0.0</distortionT2>
169 |         <CxPrime>0</CxPrime>
170 |         <Cx>0.0</Cx>
171 |         <Cy>0.0</Cy>
172 |         <focalLength>0.0</focalLength>
173 |       </plugin>
174 |     </sensor>
175 |   </gazebo>
176 | 
177 |       <gazebo reference="oakd_lite_joint_${mount_point}">
178 |           <!-- <disableFixedJointLumping>true</disableFixedJointLumping>  -->
179 |           <!-- <preserveFixedJoint>true</preserveFixedJoint> -->
180 |       </gazebo>
181 |     </xacro:macro>
182 | 
183 |     <xacro:macro name="oakd_lite_joint" params="x y z roll pitch yaw mount_point" >
184 |         <joint name="oakd_lite_joint_${mount_point}" type="fixed">
185 |                 <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x}+0.1 ${y}-0.01 ${z}"/>
186 |             <parent link="base_link" />
187 |             <child link="oakd_lite_${mount_point}" />
188 |         </joint>
189 | 
190 |         <gazebo reference="oakd_lite_joint_${mount_point}">
191 |             <preserveFixedJoint>true</preserveFixedJoint>
192 |         </gazebo>
193 |     </xacro:macro>
194 | </robot>
195 | 


--------------------------------------------------------------------------------
/oakd_description/urdf/oakd-poe.urdf.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?>
  2 | 
  3 | <!--  xacro macros for oakd-poe mount -->
  4 | <!--  This is slightly different from the OG OAKD camera -->
  5 | <!--  to account for the differences in size,mass,etc. -->
  6 | 
  7 | <robot name="oakd_poe" xmlns:xacro="http://ros.org/wiki/xacro">
  8 |       <xacro:macro name="oakd_poe_link" params="mount_point">
  9 |       <xacro:property name="oakd_length" value="0.130" />
 10 |       <xacro:property name="oakd_width" value="0.101" />
 11 |       <xacro:property name="oakd_depth" value="0.031" />
 12 |       <xacro:property name="oakd_mass" value="0.361" />
 13 | 
 14 |       <link name="oakd_poe_${mount_point}">
 15 |              <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
 16 |           <visual>
 17 |               <origin rpy="0 0 0" xyz="0 0 0" />
 18 |               <geometry>
 19 |                       <mesh filename="package://oakd_description/meshes/sensors/OAK-D-POE.dae" />
 20 |               </geometry>
 21 |                <material name="black" />
 22 |           </visual>
 23 |           <collision>
 24 |               <origin rpy="0 0 0" xyz="0 0 0" />
 25 |               <geometry>
 26 |                   <box size="${oakd_length} ${oakd_width} ${oakd_depth}"/>
 27 |               </geometry>
 28 |           </collision>
 29 |           <xacro:solid_cuboid_inertial
 30 |               rpy="0 0 0" xyz="0 0 0"
 31 |               mass="${oakd_mass}"
 32 |               x="${oakd_length}" y="${oakd_width}" z="${oakd_depth}" />
 33 |       </link>
 34 |       
 35 |       <!-- Add dummy joint for camera_optical_frame to link back to base_link -->
 36 | 
 37 |       <joint name="camera_optical_joint" type="fixed">
 38 |       <!-- Point cloud frustrum is 90 degrees off from visual frame --> 
 39 |            <origin rpy="-1.57079632769 0 -1.570796332769" xyz="0 0 0" />
 40 | 	   <parent link="oakd_poe_${mount_point}" />
 41 | 	   <child link="camera_optical_frame" />
 42 | 	</joint> 
 43 | 
 44 | 	<!-- Add dummy link for camera_optical_frame to link back to base_link -->
 45 |         <link name="camera_optical_frame">
 46 |         <inertial>
 47 | 	  <mass value="0.001" />
 48 | 	  <origin xyz="0 0 0" />
 49 | 	  <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
 50 |           </inertial>
 51 |   </link>
 52 | 
 53 |   <!-- Dummy joints for rgb camera to link back to base_link --> 
 54 |         <joint name="camera_rgb_optical_joint" type="fixed">
 55 |            <origin rpy="0 0 0" xyz="0 0 0" />
 56 | 	   <parent link="oakd_poe_${mount_point}" />
 57 | 	   <child link="camera_rgb_optical_frame" />
 58 | 	</joint> 
 59 | 
 60 | 	<!-- Add dummy link for camera_optical_frame to link back to base_link -->
 61 |         <link name="camera_rgb_optical_frame">
 62 |         <inertial>
 63 | 	  <mass value="0.001" />
 64 | 	  <origin xyz="0 0 0" />
 65 | 	  <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
 66 |           </inertial>
 67 |   </link>
 68 | 
 69 |   <!-- Gazebo plugin for greyscale left/right stereo pairs -->
 70 | 
 71 |       <gazebo reference="oakd_poe_${mount_point}">
 72 |     <material>Gazebo/DarkGrey</material>
 73 |     <sensor type="multicamera" name="stereo_camera">
 74 |       <update_rate>30.0</update_rate>
 75 |       <camera name="left">
 76 |         <horizontal_fov>1.2566</horizontal_fov>
 77 |         <image>
 78 |           <width>1200</width>
 79 |           <height>800</height>
 80 | 	  <format>L8</format> 
 81 | 	  <!--   <format>R8G8B8</format> -->
 82 |         </image>
 83 |         <clip>
 84 |           <near>0.3</near>
 85 |           <far>35</far>
 86 |         </clip>
 87 |         <noise>
 88 |           <type>gaussian</type>
 89 |           <mean>0.0</mean>
 90 |           <stddev>0.007</stddev>
 91 |         </noise>
 92 |       </camera>
 93 |       <camera name="right">
 94 |         <pose>0 -0.07 0 0 0 0</pose>
 95 |         <horizontal_fov>1.1.2566</horizontal_fov>
 96 |         <image>
 97 |           <width>1200</width>
 98 |           <height>800</height>
 99 | 	  <format>L8</format> 
100 | 	  <!--   <format>R8G8B8</format> -->
101 |         </image>
102 |         <clip>
103 |           <near>0.3</near>
104 |           <far>35</far>
105 |         </clip>
106 |         <noise>
107 |           <type>gaussian</type>
108 |           <mean>0.0</mean>
109 |           <stddev>0.007</stddev>
110 |         </noise>
111 |       </camera>
112 |       <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
113 |         <alwaysOn>true</alwaysOn>
114 |         <updateRate>0.0</updateRate>
115 | 	<cameraName>oakd_poe_${mount_point}/camera</cameraName>
116 |         <imageTopicName>image_raw</imageTopicName>
117 |         <cameraInfoTopicName>camera_info</cameraInfoTopicName>
118 | 	<frameName>camera_optical_frame</frameName>
119 |         <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
120 |         <hackBaseline>0.075</hackBaseline>
121 |         <distortionK1>0.0</distortionK1>
122 |         <distortionK2>0.0</distortionK2>
123 |         <distortionK3>0.0</distortionK3>
124 |         <distortionT1>0.0</distortionT1>
125 |         <distortionT2>0.0</distortionT2>
126 |       </plugin>
127 |     </sensor>
128 |   </gazebo> 
129 | 
130 |  <!-- Gazebo plugin for center RGB camera -->
131 | 
132 |    <gazebo reference="oakd_poe_${mount_point}">
133 |       <material>Gazebo/White</material>
134 |       <sensor type="camera" name="oakd_rgb_${mount_point}">
135 |       <update_rate>30.0</update_rate>
136 |       <camera name="head">
137 |         <horizontal_fov>1.3962634</horizontal_fov>
138 |         <image>
139 |           <width>800</width>
140 |           <height>800</height>
141 |           <format>R8G8B8</format>
142 |         </image>
143 |         <clip>
144 |           <near>0.02</near>
145 |           <far>300</far>
146 |         </clip>
147 |         <noise>
148 |           <type>gaussian</type>
149 |           <!-- Noise is sampled independently per pixel on each frame.
150 |                That pixel's noise value is added to each of its color
151 |                channels, which at that point lie in the range [0,1]. -->
152 |           <mean>0.0</mean>
153 |           <stddev>0.007</stddev>
154 |         </noise>
155 |       </camera>
156 |       <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
157 |         <alwaysOn>true</alwaysOn>
158 |         <updateRate>0.0</updateRate>
159 |         <cameraName>oakd_rgb_${mount_point}</cameraName>
160 |         <imageTopicName>image_raw</imageTopicName>
161 |         <cameraInfoTopicName>camera_info</cameraInfoTopicName>
162 |         <frameName>camera_rgb_link_optical</frameName>
163 |         <!-- setting hackBaseline to anything but 0.0 will cause a misalignment
164 |             between the gazebo sensor image and the frame it is supposed to
165 |             be attached to -->
166 |         <hackBaseline>0.0</hackBaseline>
167 |         <distortionK1>0.0</distortionK1>
168 |         <distortionK2>0.0</distortionK2>
169 |         <distortionK3>0.0</distortionK3>
170 |         <distortionT1>0.0</distortionT1>
171 |         <distortionT2>0.0</distortionT2>
172 |         <CxPrime>0</CxPrime>
173 |         <Cx>0.0</Cx>
174 |         <Cy>0.0</Cy>
175 |         <focalLength>0.0</focalLength>
176 |       </plugin>
177 |     </sensor>
178 |   </gazebo>
179 | 
180 |       <gazebo reference="oakd_poe_joint_${mount_point}">
181 |           <!-- <disableFixedJointLumping>true</disableFixedJointLumping>  -->
182 |           <!-- <preserveFixedJoint>true</preserveFixedJoint> -->
183 |       </gazebo>
184 |     </xacro:macro>
185 | 
186 |     <xacro:macro name="oakd_poe_joint" params="x y z roll pitch yaw mount_point" >
187 |         <joint name="oakd_poe_joint_${mount_point}" type="fixed">
188 |                 <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x}+0.1 ${y}-0.01 ${z}"/>
189 |             <parent link="base_link" />
190 |             <child link="oakd_poe_${mount_point}" />
191 |         </joint>
192 | 
193 |         <gazebo reference="oakd_poe_joint_${mount_point}">
194 |             <preserveFixedJoint>true</preserveFixedJoint>
195 |         </gazebo>
196 |     </xacro:macro>
197 | </robot>
198 | 


--------------------------------------------------------------------------------
/oakd_description/urdf/oakd.urdf.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?>
  2 | 
  3 | <!--  xacro macros for oakd mount -->
  4 | <robot name="oakd" xmlns:xacro="http://ros.org/wiki/xacro">
  5 |       <xacro:macro name="oakd_link" params="mount_point">
  6 |       <xacro:property name="oakd_length" value="0.0803" />
  7 |       <xacro:property name="oakd_width" value="0.0957" />
  8 |       <xacro:property name="oakd_depth" value="0.1267" />
  9 |       <xacro:property name="oakd_mass" value="0.15" />
 10 | 
 11 |       <link name="oakd_${mount_point}">
 12 |              <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
 13 |           <visual>
 14 |               <origin rpy="0 0 0" xyz="0 0 0" />
 15 |               <geometry>
 16 |                       <mesh filename="package://oakd_description/meshes/sensors/OAK-D.dae" />
 17 |               </geometry>
 18 |                <material name="black" />
 19 |           </visual>
 20 |           <collision>
 21 |               <origin rpy="0 0 0" xyz="0 0 0" />
 22 |               <geometry>
 23 |                   <box size="${oakd_length} ${oakd_width} ${oakd_depth}"/>
 24 |               </geometry>
 25 |           </collision>
 26 |           <xacro:solid_cuboid_inertial
 27 |               rpy="0 0 0" xyz="0 0 0"
 28 |               mass="${oakd_mass}"
 29 |               x="${oakd_length}" y="${oakd_width}" z="${oakd_depth}" />
 30 |       </link>
 31 |       
 32 |       <!-- Add dummy joint for camera_optical_frame to link back to base_link -->
 33 | 
 34 |       <joint name="camera_optical_joint" type="fixed">
 35 |       <!-- Point cloud frustrum is 90 degrees off from visual frame --> 
 36 |            <origin rpy="-1.57079632769 0 -1.570796332769" xyz="0 0 0" />
 37 | 	   <parent link="oakd_${mount_point}" />
 38 | 	   <child link="camera_optical_frame" />
 39 | 	</joint> 
 40 | 
 41 | 	<!-- Add dummy link for camera_optical_frame to link back to base_link -->
 42 |         <link name="camera_optical_frame">
 43 |         <inertial>
 44 | 	  <mass value="0.001" />
 45 | 	  <origin xyz="0 0 0" />
 46 | 	  <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
 47 |           </inertial>
 48 |   </link>
 49 | 
 50 |   <!-- Dummy joints for rgb camera to link back to base_link --> 
 51 |         <joint name="camera_rgb_optical_joint" type="fixed">
 52 |            <origin rpy="0 0 0" xyz="0 0 0" />
 53 | 	   <parent link="oakd_${mount_point}" />
 54 | 	   <child link="camera_rgb_optical_frame" />
 55 | 	</joint> 
 56 | 
 57 | 	<!-- Add dummy link for camera_optical_frame to link back to base_link -->
 58 |         <link name="camera_rgb_optical_frame">
 59 |         <inertial>
 60 | 	  <mass value="0.001" />
 61 | 	  <origin xyz="0 0 0" />
 62 | 	  <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
 63 |           </inertial>
 64 |   </link>
 65 | 
 66 |   <!-- Gazebo plugin for greyscale left/right stereo pairs -->
 67 | 
 68 |       <gazebo reference="oakd_${mount_point}">
 69 |     <material>Gazebo/DarkGrey</material>
 70 |     <sensor type="multicamera" name="stereo_camera">
 71 |       <update_rate>30.0</update_rate>
 72 |       <camera name="left">
 73 |         <horizontal_fov>1.2566</horizontal_fov>
 74 |         <image>
 75 |           <width>1200</width>
 76 |           <height>800</height>
 77 | 	  <format>L8</format> 
 78 | 	  <!--   <format>R8G8B8</format> -->
 79 |         </image>
 80 |         <clip>
 81 |           <near>0.3</near>
 82 |           <far>35</far>
 83 |         </clip>
 84 |         <noise>
 85 |           <type>gaussian</type>
 86 |           <mean>0.0</mean>
 87 |           <stddev>0.007</stddev>
 88 |         </noise>
 89 |       </camera>
 90 |       <camera name="right">
 91 |         <pose>0 -0.07 0 0 0 0</pose>
 92 |         <horizontal_fov>1.1.2566</horizontal_fov>
 93 |         <image>
 94 |           <width>1200</width>
 95 |           <height>800</height>
 96 | 	  <format>L8</format> 
 97 | 	  <!--   <format>R8G8B8</format> -->
 98 |         </image>
 99 |         <clip>
100 |           <near>0.3</near>
101 |           <far>35</far>
102 |         </clip>
103 |         <noise>
104 |           <type>gaussian</type>
105 |           <mean>0.0</mean>
106 |           <stddev>0.007</stddev>
107 |         </noise>
108 |       </camera>
109 |       <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
110 |         <alwaysOn>true</alwaysOn>
111 |         <updateRate>0.0</updateRate>
112 | 	<cameraName>oakd_${mount_point}/camera</cameraName>
113 |         <imageTopicName>image_raw</imageTopicName>
114 |         <cameraInfoTopicName>camera_info</cameraInfoTopicName>
115 | 	<frameName>camera_optical_frame</frameName>
116 |         <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
117 |         <hackBaseline>0.075</hackBaseline>
118 |         <distortionK1>0.0</distortionK1>
119 |         <distortionK2>0.0</distortionK2>
120 |         <distortionK3>0.0</distortionK3>
121 |         <distortionT1>0.0</distortionT1>
122 |         <distortionT2>0.0</distortionT2>
123 |       </plugin>
124 |     </sensor>
125 |   </gazebo> 
126 | 
127 |  <!-- Gazebo plugin for center RGB camera -->
128 | 
129 |    <gazebo reference="oakd_${mount_point}">
130 |       <material>Gazebo/White</material>
131 |       <sensor type="camera" name="oakd_rgb_${mount_point}">
132 |       <update_rate>30.0</update_rate>
133 |       <camera name="head">
134 |         <horizontal_fov>1.3962634</horizontal_fov>
135 |         <image>
136 |           <width>800</width>
137 |           <height>800</height>
138 |           <format>R8G8B8</format>
139 |         </image>
140 |         <clip>
141 |           <near>0.02</near>
142 |           <far>300</far>
143 |         </clip>
144 |         <noise>
145 |           <type>gaussian</type>
146 |           <!-- Noise is sampled independently per pixel on each frame.
147 |                That pixel's noise value is added to each of its color
148 |                channels, which at that point lie in the range [0,1]. -->
149 |           <mean>0.0</mean>
150 |           <stddev>0.007</stddev>
151 |         </noise>
152 |       </camera>
153 |       <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
154 |         <alwaysOn>true</alwaysOn>
155 |         <updateRate>0.0</updateRate>
156 |         <cameraName>oakd_rgb_${mount_point}</cameraName>
157 |         <imageTopicName>image_raw</imageTopicName>
158 |         <cameraInfoTopicName>camera_info</cameraInfoTopicName>
159 |         <frameName>camera_rgb_link_optical</frameName>
160 |         <!-- setting hackBaseline to anything but 0.0 will cause a misalignment
161 |             between the gazebo sensor image and the frame it is supposed to
162 |             be attached to -->
163 |         <hackBaseline>0.0</hackBaseline>
164 |         <distortionK1>0.0</distortionK1>
165 |         <distortionK2>0.0</distortionK2>
166 |         <distortionK3>0.0</distortionK3>
167 |         <distortionT1>0.0</distortionT1>
168 |         <distortionT2>0.0</distortionT2>
169 |         <CxPrime>0</CxPrime>
170 |         <Cx>0.0</Cx>
171 |         <Cy>0.0</Cy>
172 |         <focalLength>0.0</focalLength>
173 |       </plugin>
174 |     </sensor>
175 |   </gazebo>
176 | 
177 |       <gazebo reference="oakd_joint_${mount_point}">
178 |           <!-- <disableFixedJointLumping>true</disableFixedJointLumping>  -->
179 |           <!-- <preserveFixedJoint>true</preserveFixedJoint> -->
180 |       </gazebo>
181 |     </xacro:macro>
182 | 
183 |     <xacro:macro name="oakd_joint" params="x y z roll pitch yaw mount_point" >
184 |         <joint name="oakd_joint_${mount_point}" type="fixed">
185 |                 <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x+0.1} ${y-0.01} ${z}"/>
186 |             <parent link="base_link" />
187 |             <child link="oakd_${mount_point}" />
188 |         </joint>
189 | 
190 |         <gazebo reference="oakd_joint_${mount_point}">
191 |             <preserveFixedJoint>true</preserveFixedJoint>
192 |         </gazebo>
193 |     </xacro:macro>
194 | </robot>
195 | 


--------------------------------------------------------------------------------
/oakd_gazebo/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(oakd_gazebo)
 3 | 
 4 | find_package(catkin REQUIRED)
 5 | 
 6 | catkin_package(
 7 |     DEPENDS
 8 |         gazebo_ros
 9 |         gazebo_ros_control
10 | 	stereo_image_proc
11 | )
12 | 
13 | install(DIRECTORY launch models worlds
14 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
15 | )
16 | 


--------------------------------------------------------------------------------
/oakd_gazebo/launch/oakd_empty_world.launch:
--------------------------------------------------------------------------------
 1 | <!-- Launch Gazebo and spawn the robot model. 
 2 |  -->
 3 | <launch>
 4 |     <arg name="debug" default="false"/>
 5 |     <arg name="gui" default="true"/>
 6 |     <arg name="paused" default="true"/>
 7 |     <arg name="use_sim_time" default="true"/>
 8 |     <arg name="headless" default="false"/>
 9 |     <arg name="physics" default="ode"/>
10 |     <!-- <arg name="physics" default="simbody"/> -->
11 |  
12 |     <!-- Launch Gazebo -->
13 |     <include file="$(find gazebo_ros)/launch/empty_world.launch">
14 |         <arg name="world_name" value="$(find oakd_gazebo)/worlds/empty.world"/>
15 |         <arg name="debug" value="$(arg debug)" />
16 |         <arg name="gui" value="$(arg gui)" />
17 |         <arg name="paused" value="$(arg paused)"/>
18 |         <arg name="use_sim_time" value="$(arg use_sim_time)"/>
19 |         <arg name="headless" value="$(arg headless)"/>
20 |         <arg name="physics" value="$(arg physics)"/>
21 |     </include>
22 | 
23 |     <!-- Spawn the model -->
24 |     <include file="$(find oakd_gazebo)/launch/oakd_spawn.launch">        
25 |     <arg name="x" value="-2.0" />
26 |     <arg name="y" value="0.0" />
27 |     <arg name="z" value="0.25" />
28 |     </include>
29 | 
30 | </launch>
31 | 


--------------------------------------------------------------------------------
/oakd_gazebo/launch/oakd_spawn.launch:
--------------------------------------------------------------------------------
 1 |  <!-- Spawn the robot model in Gazebo. 
 2 |     
 3 |     Note: To set the initial pose in Gazebo:
 4 | 
 5 |     1. Start Gazebo paused
 6 |     2. Set the desired joint positions in gazebo_ros spawn_model
 7 |        using the option:
 8 |        -J <joint_name> <joint_position>
 9 |        and unpause Gazebo using:
10 |        -unpause       
11 | 
12 |     Resources:
13 |         https://answers.ros.org/question/242151/how-to-set-initial-pose-to-ur5-in-gazebo/
14 |         https://answers.ros.org/question/236568/spawning-a-robot-arm-with-desired-joint-angles/
15 |  -->
16 | 
17 |  <launch>
18 |     <arg name="x" default="0" />
19 |     <arg name="y" default="0" />
20 |     <arg name="z" default="0" />
21 | 
22 |     <arg name="model" default="$(find oakd_description)/urdf/oakd.urdf.xacro"/>
23 | 
24 |     <!-- Load the robot description -->
25 |     <include file="$(find oakd_description)/launch/description.launch" >
26 |         <arg name="model" value="$(arg model)"/>
27 |     </include>
28 | 
29 |     <!-- Launch the robot state publisher -->
30 |     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
31 |         <param name="publish_frequency" type="double" value="50.0" />
32 |     </node>
33 | 
34 |     <!-- Spawn robot in Gazebo -->
35 |     <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" 
36 |         args="-z $(arg z)
37 |         -x $(arg x)
38 |         -y $(arg y)
39 |         -urdf
40 |         -model oakd
41 |         -param robot_description"
42 |         respawn="false" output="screen" />
43 | 
44 | </launch>
45 | 


--------------------------------------------------------------------------------
/oakd_gazebo/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |     <name>oakd_gazebo</name>
 4 |     <version>0.2.2</version>
 5 |     <description>Gazebo simulation launch files for the Luxonix OAKD AI Camera </description>
 6 |     <maintainer email="espressobot@gmail.com">Steve Okay</maintainer>
 7 |     <license>BSD-3-Clause</license>
 8 |     <url type="website">https://familiarrobotics.com/jetdillo/oakd</url>
 9 |     <url type="repository">https://github.com/jetdillo/oakd</url>
10 |     <url type="bugtracker">https://github.com/jetdillo/oakd/issues</url>
11 |     <author email="espressobot@gmail.com">Steve Okay</author>
12 |     <buildtool_depend>catkin</buildtool_depend>
13 |     <exec_depend>oakd_description</exec_depend>
14 |     <exec_depend>gazebo_ros</exec_depend>
15 |     <exec_depend>gazebo_ros_control</exec_depend>
16 |     <exec_depend>xacro</exec_depend>
17 | 
18 |     <export>
19 |         <gazebo_ros gazebo_model_path="${prefix}/models"/>
20 |     </export>
21 | </package>
22 | 


--------------------------------------------------------------------------------
/oakd_gazebo/worlds/empty.world:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <sdf version='1.4'>
 3 |     <world name='empty'>
 4 | 
 5 |     <!-- Scene -->
 6 |     <scene>
 7 |         <ambient>0.4 0.4 0.4 1</ambient>
 8 |         <background>0.7 0.7 0.7 1</background>
 9 |         <shadows>true</shadows>
10 |     </scene>
11 | 
12 |     <!-- Physics -->
13 |     <physics type='ode'>
14 |         <!-- <max_step_size>0.001</max_step_size> -->
15 |         <!-- <real_time_update_rate>0.0</real_time_update_rate> -->
16 |         <!-- <real_time_factor>1.5</real_time_factor> -->
17 |         <!-- <gravity>0 0 -9.8</gravity> -->
18 |         <ode>
19 |             <solver>
20 |                 <type>quick</type>
21 |                 <!-- <type>world</type> -->
22 |                 <!-- <min_step_size>0.0001</min_step_size> -->
23 | 
24 |                 <!-- Only applicable to 'quick' -->
25 |                 <!-- <iters>100</iters> -->
26 |                 <!-- <precon_iters>0</precon_iters> -->
27 |                 <!-- <sor>1.30</sor> -->
28 | 
29 |                 <!-- <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling> -->
30 |                 <!-- <friction_model>pyramid_model</friction_model> -->
31 |                 <!-- <friction_model>cone_model</friction_model> -->
32 |             </solver>
33 |             <constraints> -->
34 |                 <cfm>0.001</cfm>
35 |                 <erp>0.02</erp>
36 |                 <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
37 |                 <contact_surface_layer>0.001</contact_surface_layer>
38 |             </constraints>
39 |         </ode>
40 |     </physics>
41 | 
42 |     <!-- A global light source -->
43 |     <include>
44 |         <uri>model://sun</uri>
45 |     </include>
46 | 
47 |     <!-- A ground plane -->
48 |     <include>
49 |         <uri>model://ground_plane</uri>
50 |     </include>
51 | 
52 |     <!-- Rough terrain -->
53 |     <!-- <include>
54 |         <uri>model://frc2016_roughterrain</uri>
55 |     </include> -->
56 | 
57 |     </world>
58 |  </sdf>
59 | 


--------------------------------------------------------------------------------