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无相机稳定版

This commit is contained in:
äHuang77 2026-05-06 10:01:16 +00:00
parent 112b10137f
commit a4e7060ce3
3 changed files with 7 additions and 92 deletions
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15
README.md
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@ -37,19 +37,18 @@ echo 'export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gaze
source ~/.bashrc
```
1. 每个终端都要按照3.2.1前置准备操作
2. 启动仿真， Nav2导航栈， AMCL节点，rviz
启动仿真， Nav2导航栈， AMCL节点，rviz
```bash
./gzsim_run.sh
ros2 launch nav2_bringup navigation_launch.py \
use_sim_time:=True \
params_file:=$HOME/ros_ws/src/vlm-semantic-nav2/TurtleBot-RRT-Star/nav2_params.yaml \
map:=$NAV2_MAP_PATH
ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
use_sim_time:=true \
map:=$NAV2_MAP_PATH
ros2 launch nav2_bringup navigation_launch.py \
use_sim_time:=True \
params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml \
map:=$NAV2_MAP_PATH
ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
```

27
src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
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@ -23,33 +23,6 @@
gz_type_name: gz.msgs.LaserScan
direction: GZ_TO_ROS
- ros_topic_name: /intel_realsense_r200_rgb/image_raw
ros_type_name: sensor_msgs/msg/Image
gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/image
gz_type_name: gz.msgs.Image
direction: GZ_TO_ROS
- ros_topic_name: /intel_realsense_r200_rgb/camera_info
ros_type_name: sensor_msgs/msg/CameraInfo
gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/camera_info
gz_type_name: gz.msgs.CameraInfo
direction: GZ_TO_ROS
# === Depth image (L16 workaround for Humble) ===
# Gazebo depth camera with <format>L16</format> publishes on /depth_image topic
# as gz.msgs.Image type (NOT /image). This bypasses unsupported gz.msgs.DepthImage.
- ros_topic_name: /intel_realsense_r200_depth/depth/image_raw
ros_type_name: sensor_msgs/msg/Image
gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/depth_image
gz_type_name: gz.msgs.Image
direction: GZ_TO_ROS
- ros_topic_name: /intel_realsense_r200_depth/camera_info
ros_type_name: sensor_msgs/msg/CameraInfo
gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/camera_info
gz_type_name: gz.msgs.CameraInfo
direction: GZ_TO_ROS
- ros_topic_name: /clock
ros_type_name: rosgraph_msgs/msg/Clock
gz_topic_name: /clock

57
src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
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@ -308,63 +308,6 @@
</geometry>
</collision>
<pose>0.076 0 0.093 0 0 0</pose>
<!-- Depth camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
Original plugin had: hack_baseline=0.07 (stereo baseline), min_depth=0.001
Note: hack_baseline is a Gazebo Classic plugin-specific param for stereo simulation;
Gz Sim uses raycasting rendering so it is NOT needed here.
Note: min_depth is replaced by <clip><near>=0.02 for minimum sensing distance. -->
<sensor name="intel_realsense_r200_depth" type="depth">
<always_on>1</always_on>
<update_rate>30</update_rate>
<pose>0.076 0.0 0.093 0 0 0</pose>
<camera name="realsense_depth_camera">
<image>
<width>640</width>
<height>480</height>
<!-- L16 format: encodes depth as 16-bit uint (pixel value = depth in mm)
This bypasses gz.msgs.DepthImage (unsupported in Humble ros_gz_bridge)
and outputs standard gz.msgs.Image that can be bridged directly. -->
<format>L16</format>
</image>
<clip>
<near>0.02</near>
<far>10</far>
</clip>
</camera>
<!-- Disable native DepthImage output to avoid topic conflict.
With this false, Gazebo only publishes /image (L16) instead of /depth_image
NOTE: <output_depth_image> removed — not valid SDF for Gz Sim Harmonic -->
</sensor>
<!-- RGB camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
Original plugin had: hack_baseline=0.07 (stereo baseline)
Note: Not applicable in Gz Sim native sensor (same reason as depth camera above). -->
<sensor name="intel_realsense_r200_rgb" type="camera">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>30</update_rate>
<pose>0.076 0.0 0.093 0 0 0</pose>
<camera name="realsense_rgb_camera">
<horizontal_fov>1.02974</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<!-- <width>1920</width> -->
<!-- <height>1080</height> -->
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
</sensor>
</link>
<joint name="base_joint" type="fixed">