Update camera settings

src/iiwa_description/urdf/iiwa7.urdf.xacro

@@ -17,6 +17,7 @@
     <xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
 
+    <xacro:property name="tool_has_camera" value="false"/>
     <xacro:include filename="$(find iiwa_description)/urdf/tools/tool_active.xacro"/>
 
     <xacro:if value="$(arg simulate)">
@@ -26,6 +27,7 @@
 
             <device reference="camera_rgb" type="Camera">
                 <ros>
+                    <enabled>false</enabled>
                     <topicName>/camera/color</topicName>
                     <updateRate>30</updateRate>
                     <alwaysOn>True</alwaysOn>
@@ -35,6 +37,7 @@
 
             <device reference="camera_depth" type="RangeFinder">
                 <ros>
+                    <enabled>false</enabled>
                     <topicName>/camera/depth</topicName>
                     <updateRate>30</updateRate>
                     <alwaysOn>True</alwaysOn>
@@ -42,6 +45,23 @@
                 </ros>
             </device>
 
+            <!-- Keep the 30 Hz deadlines independent of Webots' 32 ms steps. -->
+            <xacro:if value="${tool_has_camera}">
+                <plugin type="iiwa_utils.webots_camera.WebotsCamera">
+                    <device>camera_rgb</device>
+                    <topicName>/camera/color</topicName>
+                    <updateRate>30</updateRate>
+                    <frameName>camera_optical_frame</frameName>
+                </plugin>
+                <plugin type="iiwa_utils.webots_camera.WebotsCamera">
+                    <device>camera_depth</device>
+                    <depth>true</depth>
+                    <topicName>/camera/depth</topicName>
+                    <updateRate>30</updateRate>
+                    <frameName>camera_optical_frame</frameName>
+                </plugin>
+            </xacro:if>
+
         </webots>
 
         <ros2_control name="iiwaGazeboControl" type="system">

src/iiwa_description/urdf/tools/patron.xacro

@@ -1,6 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tool_patron">
 
+    <xacro:property name="tool_has_camera" value="true"/>
+
     <link name="camera_holder">
         <inertial>
             <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
@@ -134,7 +136,8 @@
     <gazebo reference="camera_optical_frame">
         <sensor type="camera" name="camera_rgb">
             <camera>
-                <horizontal_fov>1.3089969</horizontal_fov>
+                <!-- VGA RGB central-crop approximation: 79.61 deg; calibrate per device. -->
+                <horizontal_fov>1.3894765524</horizontal_fov>
                 <image>
                     <width>640</width>
                     <height>480</height>
@@ -146,7 +149,7 @@
                 </clip>
                 <noise>
                     <type>gaussian</type>
-                    <stddev>0.005</stddev>
+                    <stddev>0.0</stddev>
                 </noise>
             </camera>
         </sensor>
@@ -159,18 +162,20 @@
                     <height>480</height>
                 </image>
                 <clip>
-                    <near>0.52</near>
+                    <near>0.01</near>
                     <far>6.0</far>
                 </clip>
             </camera>
             <range>
-                <min>0.52</min>
+                <!-- Conservative simulation cutoff, not calibrated VGA Min-Z. -->
+                <min>0.4</min>
                 <max>6.0</max>
                 <resolution>0.001</resolution>
             </range>
             <noise>
                 <type>gaussian</type>
-                <stddev>0.02</stddev>
+                <!-- No arbitrary Gaussian noise: this is an ideal depth model. -->
+                <stddev>0.0</stddev>
             </noise>
         </sensor>
     </gazebo>