Adds realsense-ros dependency for URDF and meshes (RobotLocomotion#14203

)

This commit provides Drake the ability to fetch the realsense-ros
upstream repository during build: IntelRealSense/realsense-ros:

- It gives Drake access to the realsense d415 xacro and mesh files

- After the download, xacro files are modified to cleanly stitch into
  a URDF in a Drake environment (rather than their native ROS
  environment)

- A test is provided that is closely based (copied + slightly modified)
  on the YCB meshes simple parsing tests

manipulation/models/BUILD.bazel

@@ -11,6 +11,7 @@ install(
         "//manipulation/models/franka_description:install_data",
         "//manipulation/models/iiwa_description:install_data",
         "//manipulation/models/jaco_description:install_data",
+        "//manipulation/models/realsense2_description:install_data",
         "//manipulation/models/wsg_50_description:install_data",
         "//manipulation/models/ycb:install_data",
     ],

manipulation/models/realsense2_description/BUILD.bazel

@@ -0,0 +1,46 @@
+# -*- python -*-
+
+load("@drake//tools/lint:lint.bzl", "add_lint_tests")
+load("@drake//tools/install:install_data.bzl", "install_data")
+load(
+    "@drake//tools/skylark:drake_cc.bzl",
+    "drake_cc_googletest",
+)
+load("@drake//tools/workspace:forward_files.bzl", "forward_files")
+load(
+    "@drake//tools/workspace/intel_realsense_ros:files.bzl",
+    "realsense2_description_files",
+)
+
+# This package is public so that other packages can refer to
+# individual files in models from their bazel rules.
+package(
+    default_visibility = ["//visibility:public"],
+)
+
+_REALSENSE2_DESCRIPTION_FILES = forward_files(
+    srcs = ["@intel_realsense_ros//:" +
+            x for x in realsense2_description_files()],
+    dest_prefix = "",
+    strip_prefix = "@intel_realsense_ros//:realsense2_description/",
+    visibility = ["//visibility:private"],
+)
+
+install_data(
+    extra_prod_models = _REALSENSE2_DESCRIPTION_FILES,
+)
+
+drake_cc_googletest(
+    name = "realsense_parse_test",
+    data = [":models"],
+    deps = [
+        "//common:find_resource",
+        "//geometry:geometry_visualization",
+        "//geometry:scene_graph",
+        "//multibody/parsing",
+        "//systems/analysis:simulator",
+        "//systems/framework:diagram_builder",
+    ],
+)
+
+add_lint_tests()

manipulation/models/realsense2_description/test/realsense_parse_test.cc

@@ -0,0 +1,82 @@
+/*
+@file
+Parses and visualizes Realsense d415.
+
+If you wish to visualize this mesh, in its own terminal run:
+
+ $ bazel-bin/tools/drake_visualizer
+
+In a new terminal, run example of showing a Realsense d415:
+
+ $ bazel run \
+   //manipulation/models/realsense2_description:realsense_parse_test -- \
+   --visualize=true
+
+*/
+
+#include <string>
+
+#include <fmt/format.h>
+#include <gflags/gflags.h>
+#include <gtest/gtest.h>
+
+#include "drake/common/find_resource.h"
+#include "drake/geometry/geometry_visualization.h"
+#include "drake/geometry/scene_graph.h"
+#include "drake/multibody/parsing/parser.h"
+#include "drake/systems/analysis/simulator.h"
+#include "drake/systems/framework/diagram_builder.h"
+
+DEFINE_bool(
+    visualize, false, "Publish model to Drake Visualizer.");
+
+namespace drake {
+namespace manipulation {
+namespace {
+
+using geometry::ConnectDrakeVisualizer;
+using geometry::SceneGraph;
+using multibody::AddMultibodyPlantSceneGraph;
+using multibody::Parser;
+using systems::DiagramBuilder;
+using systems::Simulator;
+
+class ParseTest : public testing::TestWithParam<std::string> {};
+
+TEST_P(ParseTest, ParsesUrdfAndVisualizes) {
+  const std::string object_name = GetParam();
+  const std::string filename = FindResourceOrThrow(fmt::format(
+      "drake/manipulation/models/realsense2_description/urdf/{}.urdf",
+      object_name));
+
+  DiagramBuilder<double> builder;
+  auto [plant, scene_graph] = AddMultibodyPlantSceneGraph(&builder, 0.0);
+  // Record the default number of models before a new model is added.
+  const int default_num_models = plant.num_model_instances();
+
+  // Check to ensure URDF is parsable.
+  EXPECT_NO_THROW(Parser(&plant).AddModelFromFile(filename));
+
+  // Ensure there was exactly one model instance added for the new model.
+  EXPECT_EQ(plant.num_model_instances() - default_num_models, 1);
+
+  // Visualize via publishing, if requested.
+  if (FLAGS_visualize) {
+    ConnectDrakeVisualizer(&builder, scene_graph);
+    plant.Finalize();
+    auto diagram = builder.Build();
+    drake::log()->info("Visualize: {}", object_name);
+    Simulator<double> simulator(*diagram);
+    simulator.Initialize();
+    diagram->Publish(simulator.get_context());
+  }
+}
+
+// Note: We use a test suite here, even if currently for only one value, to
+// allow for easily adding more models under test in the future without
+// rewriting the test code.
+INSTANTIATE_TEST_SUITE_P(RealsenseD415, ParseTest, testing::Values("d415"));
+
+}  // namespace
+}  // namespace manipulation
+}  // namespace drake

tools/workspace/default.bzl

@@ -34,6 +34,7 @@ load("@drake//tools/workspace/gtest:repository.bzl", "gtest_repository")
 load("@drake//tools/workspace/gurobi:repository.bzl", "gurobi_repository")
 load("@drake//tools/workspace/ibex:repository.bzl", "ibex_repository")
 load("@drake//tools/workspace/ignition_math:repository.bzl", "ignition_math_repository")  # noqa
+load("@drake//tools/workspace/intel_realsense_ros:repository.bzl", "intel_realsense_ros_repository")  # noqa
 load("@drake//tools/workspace/ipopt:repository.bzl", "ipopt_repository")
 load("@drake//tools/workspace/jsoncpp:repository.bzl", "jsoncpp_repository")
 load("@drake//tools/workspace/lapack:repository.bzl", "lapack_repository")
@@ -161,6 +162,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         ibex_repository(name = "ibex")
     if "ignition_math" not in excludes:
         ignition_math_repository(name = "ignition_math", mirrors = mirrors)
+    if "intel_realsense_ros" not in excludes:
+        intel_realsense_ros_repository(name = "intel_realsense_ros", mirrors = mirrors)  # noqa
     if "ipopt" not in excludes:
         ipopt_repository(name = "ipopt")
     if "jsoncpp" not in excludes:

tools/workspace/intel_realsense_ros/BUILD.bazel

@@ -0,0 +1,5 @@
+# -*- python -*-
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()

tools/workspace/intel_realsense_ros/files.bzl

@@ -0,0 +1,12 @@
+# -*- python -*-
+
+# List files to be exported from the upstream
+# IntelRealsense/realsense-ros repository
+
+def realsense2_description_files():
+    return [
+        "realsense2_description/LICENSE",
+        "realsense2_description/meshes/d415.stl",
+        "realsense2_description/package.xml",
+        "realsense2_description/urdf/d415.urdf",
+    ]

tools/workspace/intel_realsense_ros/package.BUILD.bazel

@@ -0,0 +1,23 @@
+# -*- python -*-
+
+load("@drake//tools/workspace/ros_xacro:defs.bzl", "xacro_file")
+
+licenses(["notice"])  # Apache-2.0
+
+package(default_visibility = ["//visibility:public"])
+
+xacro_file(
+    name = "realsense2_description/urdf/d415.urdf",
+    src = "realsense2_description/urdf/test_d415_camera.urdf.xacro",
+    data = [
+        "realsense2_description/urdf/_d415.urdf.xacro",
+        "realsense2_description/urdf/_materials.urdf.xacro",
+        "realsense2_description/urdf/_usb_plug.urdf.xacro",
+    ],
+)
+
+exports_files(
+    srcs = glob([
+        "realsense2_description/**",
+    ], allow_empty = False),
+)

tools/workspace/intel_realsense_ros/repository.bzl

@@ -0,0 +1,24 @@
+# -*- python -*-
+
+load("@drake//tools/workspace:github.bzl", "github_archive")
+
+def intel_realsense_ros_repository(
+        name,
+        mirrors = None):
+    github_archive(
+        name = name,
+        repository = "IntelRealSense/realsense-ros",
+        # N.B. Even though 2.2.x series is not the highest-numbered release, we
+        # are using it here because it aligns with the ROS Melodic version
+        # released for Ubuntu 18.04.
+        commit = "2.2.17",
+        sha256 = "babffbd3b2d20c94431436fc50606fddf8712dd7e9392d9da3fd228b432f9cfe",  # noqa
+        build_file = "@drake//tools/workspace/intel_realsense_ros:package.BUILD.bazel",  # noqa
+        patch_cmds = [
+            "cp LICENSE realsense2_description/",
+            "sed -i.orig -e 's|$(find realsense2_description)/urdf/||' realsense2_description/urdf/*.xacro",  # noqa
+            "sed -i -e 's|$(arg use_nominal_extrinsics)|false|' realsense2_description/urdf/*.xacro",  # noqa
+            "sed -i -e 's|$(arg add_plug)|false|' realsense2_description/urdf/*.xacro",  # noqa
+        ],
+        mirrors = mirrors,
+    )