Adding thermal camera plugin to the robot description in another package

edit

I want to use the thermal camera in my robot. I have 3 pcks : the first package that has the launch file where I it looks from the second pkg for the robot discreption that uses the plugins or the sensor from the third packgae.

I did the following: In package 3: I downloaded the package hector_gazebo from this link https://github.com/tu-darmstadt-ros-p...

In package 2:

I have the file1.xacro file that has all the sensors that the robot has and I added the following sensor

 <robot xmlns:xacro="http://ros.org/wiki/xacro"> 

 <!-- here are all the plugins and the other sensors like the cameras, imu and the depth cameras and all other macros --> 
 <!-- thermal -->
<xacro:macro name="thermal_camera"
params="namespace parent_link camera_suffix frame_rate
  horizontal_fov image_width image_height image_format min_distance
  max_distance noise_mean noise_stddev enable_visual *geometry *origin">
<link name="${namespace}/camera_${camera_suffix}_link">
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry>
      <xacro:insert_block name="geometry" />
    </geometry>
  </collision>
  <xacro:if value="${enable_visual}">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <xacro:insert_block name="geometry" />
      </geometry>
      <material name="red" />
    </visual>
  </xacro:if>
  <inertial>
    <mass value="1e-5" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
  </inertial>
</link>
<joint name="${namespace}/camera_${camera_suffix}_joint" type="fixed">
  <xacro:insert_block name="origin" />
  <parent link="${parent_link}" />
  <child link="${namespace}/camera_${camera_suffix}_link" />
</joint>
<gazebo reference="${namespace}/camera_${camera_suffix}_link">
  <sensor type="camera" name="${namespace}_camera_${camera_suffix}">
    <update_rate>${frame_rate}</update_rate>
    <camera name="head">
      <horizontal_fov>${horizontal_fov}</horizontal_fov>
      <image>
        <width>${image_width}</width>
        <height>${image_height}</height>
        <format>${image_format}</format>
      </image>
      <clip>
        <near>${min_distance}</near>
        <far>${max_distance}</far>
      </clip>
      <noise>
        <type>gaussian</type>
        <!-- Noise is sampled independently per pixel on each frame.
             That pixel's noise value is added to each of its color
             channels, which at that point lie in the range [0,1]. -->
        <mean>${noise_mean}</mean>
        <stddev>${noise_stddev}</stddev>
      </noise>
    </camera>
    <plugin name="thermal_camera_controller" filename="libgazebo_ros_thermal_depth_camera.so">
      <robotNamespace>${namespace}</robotNamespace>
      <alwaysOn>true</alwaysOn>
      <updateRate>${frame_rate}</updateRate>
      <cameraName>camera_${camera_suffix}</cameraName>
      <imageTopicName>image_raw</imageTopicName>
      <cameraInfoTopicName>camera_info</cameraInfoTopicName>
      <frameName>camera_${camera_suffix}_link</frameName>
      <hackBaseline>0.0</hackBaseline>
      <distortionK1>0.0</distortionK1>
      <distortionK2>0.0</distortionK2>
      <distortionK3>0.0</distortionK3>
      <distortionT1>0.0</distortionT1>
      <distortionT2>0.0</distortionT2>
    </plugin>
  </sensor>
</gazebo>

</xacro:macro> </robot>

I run the following command: rosrun xacro xacro.py file1.xacro the output was the following: <-- <robot xmlns:xacro="http://ros.org/wiki/xacro"> </robot>

I edited the pkg.xml in package 2 file to be the following :

<package>
<name>robot_description</name>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>hector_gazebo_thermal_camera</build_depend>
<run_depend>hector_gazebo_thermal_camera</run_depend>
</package>

I also modified the Cmake.list file in package 2 like the following:

cmake_minimum_required(VERSION 2.8.3)
project(robot_description)
find_package(catkin REQUIRED COMPONENTS hector_gazebo_thermal_camera)
catkin_package() 
find_package(gazebo REQUIRED)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
## Find Boost
find_package(Boost REQUIRED COMPONENTS thread)
include_directories(${Boost_INCLUDE_DIRS})
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

then I added the following ... (more)