Feature/aruco sim

[MidnightRaider06]

Changes adding ArUco tag model and adding regular camera to the URDF.

To get both the depth camera and normal camera visualizations working in rviz, run the following commands (everything could be combined into one big "bash -c" command):

For simulation purposes, publish these static transforms (the map frame must be connected to the camera and depth_camera frames)

bash -c "ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map odom & \
         ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint & \
         ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_footprint rover/base_footprint/depth_camera & \ 
         ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_footprint rover/base_footprint/camera & \
         wait"

Then bridge the camera topics

ros2 run ros_gz_bridge parameter_bridge \
  /camera@sensor_msgs/msg/Image@gz.msgs.Image \
  /camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo

More changes to the ArUco code will be added soon.

[mdurrani808]

bash -c "ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map odom & \
         ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint & \
         ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_footprint rover/base_footprint/depth_camera & \ 
         ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_footprint rover/base_footprint/camera & \
         wait"

This should not be necessary. odom to base_footprint is published via the ground_truth_odom publisher or the athena_drive_controller via the config file. map to odom can be a static offset published via the launch file, and the other depth camera and other transforms should just be from the URDF.

This goes in the bridge launch file:

ros2 run ros_gz_bridge parameter_bridge
/camera@sensor_msgs/msg/Image@gz.msgs.Image
/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo

[mdurrani808]

Can we use Detection2D here?