Camera Placements in Gazebo

Project	Task	Project Manager

Project	Task	Project Manager
Comms	ROS2 Radio Communication	@Alex Szabo

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/

GitHub - pal-robotics/realsense_gazebo_plugin

Notes:

Clearance on front 1ft
10 cm on front
or can you mount it on corners
for cad files to do measurements, contact @Yu-Ming He or @Saheed Quadri

https://www.youtube.com/watch?v=K1OB2Ky9gpc

Constraints

Constraints	Author	Appended Date

Constraints	Author	Appended Date
Camera Placement	@Yu-Ming He	N/A

Subteam Contacts

Subteam	Contact	Description

Subteam	Contact	Description
Software	Alex Szabo: @Alex Szabo	For ROS2/Gazebo Questions
Mechanical	Yu-Ming: @Yu-Ming He	For mechanical placement questions

Assignees

Assignee	Monday Task	Date

Assignee	Monday Task	Date
XX	Monday Task	Jul 21, 2024

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