Camera Placements in Gazebo

Task Description

Need for project: We need to maximize the field of view (FOV) of the two front-facing depth cameras, which are essential to autonomy and reliable navigation. The larger the FOV, the more the environment can be analyzed and the better the object avoidance.

Goal: In Gazebo Sim, based on the parameters of the natural sense depth cameras, we use and change the camera angle and placement to maximize the surrounding area's coverage.

Requirements:

• Must be able to cover at least 160 degrees at the front of the rover (if this can not be met, why?)
• Work with mech to ensure the sim placement is feasible on our rover.

Supporting Resources:

https://classic.gazebosim.org/tutorials/?tut=ros_depth_camera

https://classic.gazebosim.org/tutorials?tut=wide_angle_camera&cat=

https://www.intelrealsense.com/depth-camera-d435/

https://github.com/pal-robotics/realsense_gazebo_plugin

Constraints

Subteam Contacts

Assignees

Task Progression/Updates

Author: @person: 2024/05/04

UPDATE

• Bullet points for updates

Communication

Communication must be proactive. The subteam lead will check in with you at least once a week to get a progress report update, but it is essential that when a roadblock occurs, you reach out for help and update Monday with a blocked or stuck status.

Blocked: for tasks that have dependencies on other projects that have not been completed yet

Stuck: you are unable to get something working.

Documentation

Upon making progression updates, please update the documentation page for this project with any critical information and resources.

Add documentation to this document: Depth Camera Placement
Documentation Guide: SW/FW Documentation Guideline