Submitted models/marble husky sensor config 3 by bfotheri · Pull Request #517 · osrf/subt

bfotheri · 2020-07-31T21:00:37Z

The marble virtual track team has updated their systems vehicles since we submitted their models. We talked with Angela and she said if they had built the vehicles perhaps you guys would consider these additional sensor configurations. Here are the images showing the two vehicles and reflecting this vehicle sensor configuration.

shakeebbb · 2020-08-01T22:25:30Z

Here is the photo of the UAV with the sensor suite that is on the simulated model except additional side cameras for Artifact Detection. We used this UAV at the Urban Circuit event and we are planning to add additional cameras for the Artifact Detection.

submitted_models/marble_husky_sensor_config_3/.vscode/c_cpp_properties.json

mjcarroll · 2020-08-06T19:56:13Z

mjcarroll · 2020-08-06T20:00:12Z

Sensor data and coordinate frames look good

mjcarroll · 2020-08-06T20:01:32Z

submitted_models/marble_husky_sensor_config_3/meshes/VLP16_base_2.dae

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+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>


Can this be deduplicated with VLP base 1?

There is a small little knob representing the plugin of the sensor that differs base 1 and base 2 but the design could be simplified and the knobless base could be used for the top and bottom. Let me know if that's what we should do.

mjcarroll

I have some questions about differences between the documentation and what is actually included in the SDF file. Can you help clarify?

submitted_models/marble_husky_sensor_config_3/package.xml

submitted_models/marble_husky_sensor_config_3/specifications.md

… the vehicles

bfotheri · 2020-08-11T15:54:23Z

I'm also adding some forward and rear facing lights that are on the vehicle but went unmodeled. Update: The lights have been added. I have completed all the changes listed here. For now everything appears resolved.

bfotheri · 2020-08-21T20:26:35Z

Is there any chance this will be accepted before cave_circuit?

acschang

This sensor configuration will not be incorporated for Cave Circuit, but feedback is included here and in-line for later consideration.

Please connect floating sensors to the existing mesh.
Please resolve the issue preventing IMU data from being published on the intended ROS topic.
Please resolve or verify the accuracy of the intrinsic parameters on the D435i RGBD camera sensor.
Please adjust the RPLidar sensor's update frequency to align with the supplied datasheet.
Please provide sensor specification documentation for the simulated HD MIPI cameras.
Please adjust the rear facing HD MIPI sensor prefix to be rear as opposed to back to align with the established SubT API.
Please adjust the OS-1 sensor data topics to horizontal_points and vertical_points from horiz_points and vert_points respectively to align with the established SubT API.
Resolve previous comments on this PR (e.g., breadcrumb functionality)
The validation data is missing. Please complete the validation testing as required by the Simulation Model Preparation Guide and submit the required data.

submitted_models/marble_husky_sensor_config_3/launch/vehicle_topics.launch

submitted_models/marble_husky_sensor_config_3/model.config

submitted_models/marble_husky_sensor_config_3/specifications.md

submitted_models/marble_husky_sensor_config_3/model.sdf

acschang · 2020-08-21T20:03:50Z

submitted_models/marble_husky_sensor_config_3/specifications.md

+* Sensor specification links:
+  * D435i RGBD Camera - https://www.intelrealsense.com/depth-camera-d435i/
+  * Ouster 3D Lidar (64 Channel) - https://ouster.com/products/os1-lidar-sensor/
+  * RPLidar S1 Planar Lidar - https://www.slamtec.com/en/Lidar/S1Spec 
+  * IMU: Microstrain 3DM-GX5-25 - datasheet: https://www.microstrain.com/sites/default/files/applications/files/3dm-gx5-25_datasheet_8400-0093_rev_n.pdf
+    * Explanation of sensor parameter derivations:
+	We derived the stddev terms as follows:
+
+	accelerometer noise density = 0.00002 g/sqrt(Hz)
+		=> convert to m/s^2 => 1.962e-4 m/s^2
+	gyro noise density = 0.005 deg/s/sqrt(Hz)
+		=> convert to rad/sec => 8.72664e-5 radians
+
+	Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU).


Please add a reference for the HD MIPI camera.

Friendly ping @bfotheri

Hey! @mjcarroll I just added the cameras reference. I haven't fixed the floating sensors yet however. I recently received a STEP file of the whole robot and am planning to convert parts to .dae files then add them into the visualization to eliminate the floating sensors.

submitted_models/marble_husky_sensor_config_3/launch/spawner.rb

submitted_models/marble_husky_sensor_config_3/launch/vehicle_topics.launch

…d add reference for the cameras

acschang

This sensor configuration will be considered for the final circuit.

Please connect floating sensors to the existing mesh.
The provided documentation for the HD MIPI cameras lists the cameras to have a 808x608 resolution, 50 Hz frame rate, and the listed lens has a 80 degree FoV. The parameters listed for the modeled sensor are 1280x960 resolution, 15 Hz frame rate, and a 60 degree FoV. Please either correct the discrepancy or provide an explanation for the simulated sensor parameters differing from the provided documentation.
The validation data is missing. Please complete the validation testing as required by the Simulation Model Preparation Guide and submit the required data.

nkoenig · 2021-01-13T18:06:07Z

The bounding box for this model is

Min[-0.492701 -0.34339 -0.144193] Max[0.5479 0.343206 0.68003]

mjcarroll · 2021-03-22T12:44:56Z

@bfotheri Friendly ping, there are some requested changes from @acschang

bfotheri · 2021-03-29T17:00:10Z

Also @acschang

For 1) & 2) I'll push a commit to address that. For 3) I believe MARBLE has collected some of this data at least. I'll discuss the required tests with them and ask when we can have this done by.

Update:
A number of updates in the past 10 months to SubT robots has made it so it was easier to just do this in a new pull request. The new pull request for this configuration is called marble_husky_sensor_config_6 and it incorporates all the feedback from this pull request. Also validation data has now been submitted to the link listed in the Model Submission Guide (Box)

bfotheri and others added 7 commits July 30, 2020 14:36

configuration with a vertical lidar is almost complete

2c20562

Finished marble_husky_sensor_config_3

a9437e1

added xacro to config 3

522e15b

fixed IMU for Rviz

d9ebdc0

quick lidar fix

246b6e9

fixed IMU problem

6a28b7a

Fixed urdf xacro file

cf6143b

nkoenig requested a review from mjcarroll August 4, 2020 16:26

mjcarroll self-assigned this Aug 5, 2020

mjcarroll reviewed Aug 6, 2020

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mjcarroll reviewed Aug 6, 2020

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mjcarroll suggested changes Aug 6, 2020

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bfotheri added 2 commits August 11, 2020 08:58

removed .vscode files from marble_husky_sensor_config_3

31f2f36

updated package and specifications files to more accurately represent…

86d1fc8

… the vehicles

added forward and rear facing lights

19234c9

acschang suggested changes Aug 22, 2020

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acschang reviewed Aug 22, 2020

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submitted_models/marble_husky_sensor_config_3/launch/vehicle_topics.launch Outdated Show resolved Hide resolved

bfotheri added 3 commits September 11, 2020 11:08

resolved most issues on PR, still need to connect floating sensors an…

6197637

…d add reference for the cameras

added reference for the cameras

99a04b9

minor addition for reference

9b5619a

acschang reviewed Dec 4, 2020

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nkoenig added the robot model label Jan 20, 2021

nkoenig unassigned mjcarroll Mar 22, 2021

bfotheri closed this Mar 30, 2021

acschang mentioned this pull request May 18, 2021

Model Submission for MARBLE Husky SC6 #920

Merged

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