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Merge pull request #229 from mcres/optical_tactile_plugin
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Optical Tactile Sensor Plugin
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@mabelzhang
mabelzhang authored Dec 12, 2020
2 parents b81fc34 + af74f4c commit 05e2ff6
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233 changes: 233 additions & 0 deletions examples/worlds/optical_tactile_sensor_plugin.sdf
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<?xml version="1.0" ?>

<sdf version="1.7">
<world name="optical_tactile_plugin">
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-contact-system.so"
name="ignition::gazebo::systems::Contact">
</plugin>
<plugin
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin
filename="libignition-gazebo-sensors-system.so"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/optical_tactile_plugin/control</service>
<stats_topic>/world/optical_tactile_plugin/stats</stats_topic>
<service>/world/depth_camera_sensor/control</service>
<stats_topic>/world/depth_camera_sensor/stats</stats_topic>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/optical_tactile_plugin/stats</topic>
<topic>/world/depth_camera_sensor/stats</topic>
</plugin>

<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
<property key="state" type="string">docked</property>
</ignition-gui>
</plugin>

<!-- Transform Control -->
<plugin filename="TransformControl" name="Transform Control">
<ignition-gui>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">263</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#03a9f4</property>
</ignition-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>
<plugin filename="ComponentInspector" name="Component inspector">
</plugin>

</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="tactile_sensor">
<pose>-0.005 -0.001 0.847 0 1.57 -1.57</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>0.005 0.02 0.02</size>
</box>
</geometry>
</collision>
<sensor name="depth_camera" type="depth_camera">
<update_rate>1</update_rate>
<topic>depth_camera</topic>
<pose relative_to="tactile_sensor">-0.05 0 0 0 0 0</pose>
<camera>
<image>
<width>640</width>
<height>480</height>
<format>R_FLOAT32</format>
</image>
<clip>
<near>0.030</near>
<far>10.0</far>
</clip>
</camera>
</sensor>
<sensor name="contact_sensor" type="contact">
<contact>
<collision>collision</collision>
</contact>
</sensor>

</link>
<static>true</static>
<plugin
filename="libignition-gazebo-opticaltactileplugin-system.so"
name="ignition::gazebo::systems::OpticalTactilePlugin">
<enabled>true</enabled>
<visualization_resolution>15</visualization_resolution>
<visualize_forces>true</visualize_forces>
<visualize_sensor>true</visualize_sensor>
<force_length>0.01</force_length>
<extended_sensing>0.001</extended_sensing>
</plugin>
</model>

<include>
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SurgicalTrolleyMed</uri>
</include>

<include>
<pose>0 0 0.7 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke</uri>
</include>

<include>
<pose>0 -0.7 0 0 0 3.14</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/OfficeChairBlue</uri>
</include>

<include>
<pose>-1.5 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/VendingMachine</uri>
</include>

</world>
</sdf>
1 change: 1 addition & 0 deletions src/systems/CMakeLists.txt
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Expand Up @@ -92,6 +92,7 @@ add_subdirectory(logical_camera)
add_subdirectory(magnetometer)
add_subdirectory(multicopter_motor_model)
add_subdirectory(multicopter_control)
add_subdirectory(optical_tactile_plugin)
add_subdirectory(performer_detector)
add_subdirectory(physics)
add_subdirectory(pose_publisher)
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7 changes: 7 additions & 0 deletions src/systems/optical_tactile_plugin/CMakeLists.txt
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gz_add_system(opticaltactileplugin
SOURCES
OpticalTactilePlugin.cc
Visualization.cc
PUBLIC_LINK_LIBS
ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
)
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