Build finished. 21 tests run, 0 skipped, 1 failed.

Build finished. 21 tests run, 0 skipped, 1 failed.

Hi @iche033 ,
I've made minor modifications to the position of the RGB camera sensor to also accommodate the Thermal camera model.
The updated sdf looks like this (only the pose has been changed) :-

<visual name="camera_visual">
    <pose>0.192 -0.015 -0.023 0 0.174533 0</pose>
    ... same as before ...
</visual>
<sensor name="camera_front" type="camera">
    <pose>0.192 -0.015 -0.023 0 0.174533 0</pose>
    ....same as before
</sensor>

<!-- thermal camera -->
<visual name="thermal_camera_visual">
    <pose>0.192 0.015 -0.023 0 0.174533 0</pose>
    ... same as before ...
</visual>
<sensor name="thermal_camera" type="thermal">
  <pose>0.192 0.015 -0.023 0 0.174533 0</pose>
  ... same as before
</sensor>

Shall I open a PR to this branch?

CC: @tiralonghipol

Thanks,
Mihir Kulkarni

great, thanks for the pose changes. I'll take care of it

Build finished. 21 tests run, 0 skipped, 1 failed.

Build finished. 21 tests run, 0 skipped, 1 failed.

The thermal camera is working for me, but I noticed a line in the camera output in rViz that I did not see when testing other robots with thermal cameras:

is that the grid in rviz?

is that the grid in rviz?

Yes, it was, so this actually looks good to me!

Hi @iche033 and @adlarkin,
I don't know if I should open this as an issue or just ask here on the same thread if there's something different in what I was doing for simulating the robot with the thermal camera.

I noticed that there's a significant difference between the image above, and what I was seeing on my machine.

When I tried to simulate the image, it looked a bit different on my machine.

Also, the floor of the tunnel looked a little different to me, with some additional flickering:-

Thanks,
Mihir

I noticed that there's a significant difference between the image above, and what I was seeing on my machine.

Are you using the Ignition binaries, or are you building Ignition from source? We are still in the process of making ign-gazebo and ign-rendering releases that will add the thermal camera functionality. Also, it actually turns out that the image I originally posted is incorrect - there was a bug that was just recently addressed in gazebosim/gz-rendering#230. So, make sure that you pull the latest changes from ign-rendering if you want to try building from source.

@mihirk284 you should see something like this once inside the tunnel if you're building ign-gazebo and ign-rendering from source:

The command I used here was:

ign launch -v 4 competition.ign worldName:=tunnel_circuit_practice_01 circuit:=tunnel robotName1:=X1 robotConfig1:=CERBERUS_M100_SENSOR_CONFIG_2

Thank you @adlarkin,
I think I had not updated the ign dome repos for a while
I'll pull the updated repos and try it out :)

Thank you @adlarkin,
I think I had not updated the ign dome repos for a while
I'll pull the updated repos and try it out :)

Sounds good! You'll need to build ign-gazebo and ign-rendering from source, but you should be able to use the binaries for all the other ignition libraries.

The Fuel models have been updated to use:

      <sensor name="thermal_camera" type="thermal">
        <pose>0.435 -.01 0.125 0 0 0</pose>
        <camera name="thermal_camera">
          <horizontal_fov>0.4922</horizontal_fov>
          <lens>
            <intrinsics>
              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
              <fx>764.35630</fx>
              <fy>764.35630</fy>
              <!-- cx = ( width + 1 ) / 2 -->
              <cx>192.5</cx>
              <!-- cy = ( height + 1 ) / 2 -->
              <cy>144.5</cy>
              <s>0</s>
            </intrinsics>
          </lens>
          <image>
            <width>384</width>
            <height>288</height>
            <format>L8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>25</update_rate>
        <plugin
          filename="ignition-gazebo-thermal-sensor-system"
          name="ignition::gazebo::systems::ThermalSensor">
          <min_temp>233.15</min_temp>
          <max_temp>833.15</max_temp>
        </plugin>
      </sensor>

The thermocam got lost from Fuel... #821.