Model submission for shafter sensor configuration 1 by COSTAR.

[christoforoskanel]

No description provided.

[osrf-jenkins]

Build finished. 15 tests run, 0 skipped, 0 failed.

[acschang]

The initial assessment of the CoSTAR Shafter model is complete. No additional input is required at this time. We will make any requisite changes to complete integration of the CoSTAR Shafter model into the SubT repository.

[adlarkin]

Edit: please take a look at my comment below that resolves this issue.

There appears to be an issue with the textures. I noticed the following output when running the command ign launch -v 4 cave_circuit.ign worldName:=cave_circuit_practice_01 robotName1:=X1 robotConfig1:=COSTAR_SHAFTER_SENSOR_CONFIG_1 localModel:=true:

[GUI] [Err] [SystemPaths.cc:444] Could not resolve file [../materials/textures/led.png]
[GUI] [Err] [Material.cc:161] Unable to find texture [../materials/textures/led.png] as a locally cached texture or in path [/ws/install/share/costar_shafter_sensor_config_1/meshes]

Here's how the robot looks for me:

I should also note that this error only appears if I don't run the ign launch ... command from the <package path>/launch directory - however, even if I do run ign launch ... from this directory, while the error disappears, it still seems like no textures are being applied to the robot.

[adlarkin]

It looks like zr300_face.png is a texture - if so, should it be moved from meshes to materials/textures?

Also, the robot is unstable when I let it hover (I am not applying any command velocities here). Is this expected behavior?

unstable_hover.mp4

[adlarkin]

A few final comments/questions. Overall, the model looks good - a lot of these comments are minor.

[nkoenig]

@christoforoskanel , can you take a look at the comments in this PR and make the necessary changes? Let me know if you have any questions or need assistance.

[christoforoskanel]

The model is now updated based on the provided comments. Please @nkoenig confirm that all changes are ok.

[osrf-jenkins]

Build finished. No test results found.

[adlarkin]

Changes look good. Just a few more comments along with the one question below before we merge this:

1. Can you move zr300_face.png from meshes/ to materials/textures/, since this is a texture?
2. Is the unstable hovering (mentioned previously) expected, or does this need to be fixed?

[osrf-jenkins]

Build finished. No test results found.

[christoforoskanel]

i have applied the requested change.

1. moved zr300_face.png to the texture folder
2. this behaviour is expected
3. I commented the lens lines because the intrinsics were reporting the 640x480 resolution. Checked the topics and now have proper intrinsics. With the lines commented in my local setup I get rgbd pointcloud without any pitch.

[adlarkin]

I commented the lens lines because the intrinsics were reporting the 640x480 resolution. Checked the topics and now have proper intrinsics. With the lines commented in my local setup I get rgbd pointcloud without any pitch.

@christoforoskanel what topic(s) are you using to visualize the rgbd pointcloud in rviz? Perhaps I was using the wrong topics for visualization.

[christoforoskanel]

using the /shafter/rgbd_camera/depth_points topic

[osrf-jenkins]

Build finished. No test results found.

[acschang]

Please revise the RGBD intrinsic camera parameters as noted.

[osrf-jenkins]

Build finished. No test results found.

[nkoenig]

The bounding box for this model is

Min[-0.349342 -0.257765 -0.090499] Max[0.294133 0.257765 0.14705]

[osrf-jenkins]

Build finished. No test results found.