ROS仿真笔记之——基于gazebo的event camera仿真(dvs gazebo)

首先安装DVS的驱动包，之前博客《ROS学习笔记之——ESVO复现及DAVIS346测试》已经配置过了～

然后clone工程，随便放到一个文件下

git clone https://github.com/HBPNeurorobotics/gazebo_dvs_plugin.git

然后编译，即可将dvs模型安装到系统中

cd gazebo_dvs_plugin
mkdir build
cd build
cmake ..
sudo make install

然后找到该模型的plugin，应该在/usr/local/lib/libgazebo_dvs_plugin.so

然后拉出来放到工作空间中。

This plugin can be used as a drop-in replacement for normal Gazebo camera plugins. Both, the DVS plugin and the CameraPlugin use the Gazebo CameraSensor internally.

<sensor name='camera' type='camera'>
    <camera name='__default__'>
        <horizontal_fov>1.8</horizontal_fov>
        <image>
            <width>128</width>
            <height>128</height>
        </image>
        <clip>
            <near>0.1</near>
            <far>100</far>
        </clip>
    </camera>
    <always_on>1</always_on>
    <update_rate>60</update_rate>
    <visualize>0</visualize>
    <plugin name='camera_controller' filename='libgazebo_dvs_plugin.so'>
        <cameraName>camera_front</cameraName>
        <robotNamespace>AADC_AudiTT</robotNamespace>
        <eventThreshold>10</eventThreshold>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <!-- <eventsTopicName>events</eventsTopicName> -->
    </plugin>
</sensor>

The parameters robotNamespace, cameraName and eventsTopicName (default: "events") result in "$robotNamespace/$cameraName/$eventsTopicName" as the identifier of the provided events topic. In this case, events will be accessible from "/AADC_AudiTT/camera_front/events".

The parameter eventThreshold specifies the pixel-wise threshold which has to be exceeded for a event to be emitted for this pixel.

The sensor parameter update_rate has only limited effect in Gazebo. The real rate is determined by the rendering pipeline and can be way lower than the specified rate. Still, this implementation yields a higher event frequency than similar Python-based implementations as a standalone node.

<gazebo reference="camera_rgb_frame">
    <!-- <material>Gazebo/Green</material> -->
    <sensor type="camera" name="camera">
      <update_rate>30.0</update_rate>
      <!-- <camera name="camera">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>800</width>
          <height>800</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
      </camera> -->

    <camera>
          <horizontal_fov>1.3962634</horizontal_fov>
          <image>
              <width>800</width>
              <height>800</height>
              <format>R8G8B8</format>
          </image>
          <clip>
              <near>0.02</near>
              <far>300</far>
          </clip>
      </camera>

      <plugin name="camera_controller" filename="libgazebo_dvs_plugin.so">
        <alwaysOn>true</alwaysOn>	
        <!-- <update_rate>60</update_rate> -->
        <update_rate>30.0</update_rate>
        <!-- <visualize>0</visualize> -->
        <visualize>$(arg camera_visual)</visualize>
        <updateRate>0.0</updateRate>
        <!-- <cameraName>mybot/camera1</cameraName> -->
         <cameraName>camera</cameraName>
	      <!-- <robotNamespace>/</robotNamespace> -->
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <eventThreshold>10</eventThreshold>
         <eventsTopicName>events</eventsTopicName>
        <!-- <frameName>camera</frameName> -->
         <frameName>camera_rgb_optical_frame</frameName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>

配置了一轮后，发现根本无法用。。。。

然后试试放到cm的工作空间中，cm一下，然后找到对应的.so文件，修改urdf如下，work了！

  <!-- camera -->
  <gazebo reference="camera_rgb_frame">
    <sensor type="camera" name="camera1">
      <!-- <update_rate>30.0</update_rate> -->
      <camera name='__default__'>
        <horizontal_fov>1.8</horizontal_fov>
        <image>
          <width>128</width>
           <height>128</height>
          <!-- <format>R8G8B8</format> -->
        </image>
        <clip>
          <near>0.1</near>
          <far>100</far>
        </clip>
        <!-- <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise> -->
      </camera>
      <update_rate>60</update_rate>
        <alwaysOn>1</alwaysOn>
         <visualize>0</visualize>
      <plugin name="camera_controller" filename="/home/kwanwaipang/catkin_ws/devel/lib/libgazebo_dvs_plugin.so">
        <!-- <alwaysOn>true</alwaysOn> -->
        <!-- <alwaysOn>1</alwaysOn> -->
        <!-- <update_rate>60</update_rate> -->
         <!-- <visualize>0</visualize> -->
        <!-- <updateRate>0.0</updateRate> -->
        <eventThreshold>10</eventThreshold>
        <cameraName>rrbot/camera1</cameraName>
        <robotNamespace>/</robotNamespace>
        <!-- <imageTopicName>image_raw</imageTopicName> -->
        <eventsTopicName>events</eventsTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <!-- <frameName>camera_rgb_optical_frame</frameName> -->
        <!-- <hackBaseline>0.07</hackBaseline> -->
        <!-- <distortionK1>0.0</distortionK1> -->
        <!-- <distortionK2>0.0</distortionK2> -->
        <!-- <distortionK3>0.0</distortionK3> -->
        <!-- <distortionT1>0.0</distortionT1> -->
        <!-- <distortionT2>0.0</distortionT2> -->
      </plugin>
    </sensor>
  </gazebo>

运行

roslaunch turtlebot3_navigation dvs_test.launch

对应的launch文件为：

<launch>
  <arg name="x_pos" default="-3.0"/>
  <arg name="y_pos" default="1.0"/>
  <arg name="z_pos" default="0.0"/>
  <arg name="gpu" default="false"/>

  <arg name="second_tb3_x_pos" default=" 7.0"/>
  <arg name="second_tb3_y_pos" default="-1.0"/>
  <arg name="second_tb3_z_pos" default=" 0.0"/>
  <arg name="second_tb3_yaw"   default=" 0.0"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="/$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>

  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.urdf.xacro gpu:=$(arg gpu)" />

  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
  
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

  </launch>

运行键盘控制使得场景与robot产生相对运动

rosrun turtlebot3_teleop turtlebot3_teleop_key

通过命令查看对应的topic

rostopic echo 

对应的launch也要修改topic name

roslaunch dvs_renderer davis_mono.launch

<launch>
  <!-- camera driver -->
  <node name="davis_ros_driver" pkg="davis_ros_driver" type="davis_ros_driver" />

  <!-- visualization -->
  <node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer">
    <!-- <param name="display_method" value="grayscale"/> -->
    <param name="display_method" value="red-blue"/>
    <!-- <remap from="events" to="/dvs/events" /> -->
    <remap from="events" to="/camera1/events" />
    <remap from="image" to="/dvs/image_raw" />
    <remap from="camera_info" to="/dvs/camera_info" />
  </node>

  <!-- display -->
  <node name="image_view" pkg="rqt_image_view" type="rqt_image_view">
  	<remap from="image" to="dvs_rendering"/>
  </node>

  <!-- configure -->
  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />

</launch>

视频效果如下：

dvs

参考资料

GitHub - HBPNeurorobotics/gazebo_dvs_plugin: This package provides a DVS simulation implemented as Gazebo plugin.
https://githubmemory.com/repo/HBPNeurorobotics/gazebo_dvs_plugin/issues
https://githubmemory.com/repo/HBPNeurorobotics/gazebo_dvs_plugin/issues/4