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Create gpu flag to enable/disable GPU processing #7

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4 changes: 3 additions & 1 deletion ca_description/launch/create_description.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
<arg name="model" value="$(find ca_description)/urdf/create_2.xacro" doc="Path to Xacro description of the robot"/>

<arg name="visualize" default="$(optenv VISUALIZE false)" doc="Flag to visualize rays in Gazebo"/>
<arg name="use_gpu" default="$(optenv GPU false)" doc="Use GPU for laser processing"/>

<!-- Stacks:
* turtlebot
Expand All @@ -28,7 +29,8 @@
<arg name="xacro_args" value="visualize:=$(arg visualize)
robot_name:=$(arg ns)
stack:=$(arg stack)
laser:=$(arg laser)"/>
laser:=$(arg laser)
use_gpu:=$(arg use_gpu)"/>
<!-- TODO (@eborghi10): Use only 1 robot_description for multiple robots -->
<param name="robot_description" command="$(find xacro)/xacro $(arg model) $(arg xacro_args)"/>
<!-- Robot state publisher-->
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1 change: 1 addition & 0 deletions ca_description/urdf/common_properties.xacro
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Expand Up @@ -66,5 +66,6 @@
</xacro:macro>

<xacro:property name="cm_to_meters" value="${1./100.}"/>
<xacro:property name="mm_to_meters" value="${1./1000.}"/>

</robot>
22 changes: 15 additions & 7 deletions ca_description/urdf/sensors/lasers/rplidar.xacro
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Expand Up @@ -9,15 +9,23 @@
<xacro:property name="laser_link" value="laser_link"/>

<xacro:property name="rate_hz" value="10"/>
<xacro:property name="min_range_m" value="0.15"/>
<xacro:property name="min_range_cm" value="15"/>
<xacro:property name="max_range_m" value="12.0"/>
<xacro:property name="samples" value="720"/>
<xacro:property name="samples" value="1000"/>
<xacro:property name="resolution_mm" value="0.5"/>
<xacro:property name="min_angle_rad" value="${-pi}"/>
<xacro:property name="max_angle_rad" value="${pi}"/>

<xacro:property name="topic_name" value="${name}/scan"/>

<!-- Set GPU values -->
<xacro:if value="$(arg use_gpu)">
<xacro:property name="gpu" value="gpu_"/>
</xacro:if>
<xacro:unless value="$(arg use_gpu)">
<xacro:property name="gpu" value=""/>
</xacro:unless>

<joint name="${name}_joint" type="fixed">
<origin xyz="${laser_origin}"/>
<parent link="${parent_link}"/>
Expand Down Expand Up @@ -45,30 +53,30 @@
</gazebo>

<gazebo reference="${laser_link}">
<sensor type="ray" name="${name}_sensor">
<sensor type="${gpu}ray" name="${name}_sensor">
<visualize>$(arg visualize)</visualize>
<update_rate>${rate_hz}</update_rate>
<ray>
<scan>
<horizontal>
<samples>${samples}</samples>
<resolution>1</resolution>
<resolution>10</resolution>
<min_angle>${min_angle_rad}</min_angle>
<max_angle>${max_angle_rad}</max_angle>
</horizontal>
</scan>
<range>
<min>${min_range_m}</min>
<min>${min_range_cm*cm_to_meters}</min>
<max>${max_range_m}</max>
<resolution>${resolution_mm / 1000.0}</resolution>
<resolution>${resolution_mm*mm_to_meters}</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_${name}" filename="libgazebo_ros_laser.so">
<plugin name="gazebo_ros_${name}" filename="libgazebo_ros_${gpu}laser.so">
<topicName>${topic_name}</topicName>
<frameName>${laser_link}</frameName>
</plugin>
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