diff --git a/src/hollander_bringup/config/vision.config.yaml b/src/hollander_bringup/config/vision.config.yaml
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..e2ce2e40274ac680fe28d73a1c6462a21f6c416a 100644
--- a/src/hollander_bringup/config/vision.config.yaml
+++ b/src/hollander_bringup/config/vision.config.yaml
@@ -0,0 +1,113 @@
+/**:
+ ros__parameters:
+ # SETTINGS
+ base_frame_id: "base_link" # Define the frame_id all static transformations refers to.
+ odom_frame_id: "odom" # Define the origin coordinate system in ROS convention (X-Forward, Y-Left, Z-Up). Pose topic defines the pose relative to that system.
+ initial_reset: false # Allows resetting the device before using it. Recommended to be used for example, when a glitch prevented the device from being properly closed.
+ wait_for_device_timeout: -1.0 # Timeout for waiting for device to connect [seconds]
+ reconnect_timeout: 5.0 # Timeout between consecutive reconnection attempts [seconds]
+ enable_sync: false # ??
+
+hollander/front_camera: # LINK https://dev.intelrealsense.com/docs/ros-wrapper#section-launch-parameters
+ ros__parameters:
+ # CAMERA IDENTITY
+ serial_no: "008222071571" # Attach to the device with the given serial number (serial_no) number.
+ camera_name: "front_camera"
+
+ # TF
+ publish_tf: true # A Boolean parameter, publish or not TF at all.
+ tf_prefix: "front_camera" # This parameter allows changing the frames' IDs prefix per camera.
+ tf_publish_rate: 0.0 # A double parameter, positive values mean dynamic transform publication with specified rate, all other values mean static transform publication.
+ publish_odom_tf: true # A Boolean parameter, publish if True TF from odom_frame to pose_frame.
+
+ # IMU
+ unite_imu_method: 2 # [0-None, 1-copy, 2-linear_interpolation]
+ linear_accel_cov: 0.01 # Set the variance given to the Imu readings.
+ angular_velocity_cov: 0.01
+
+ enable_gyro: true # Enable gyro stream
+ gyro_fps: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+ enable_accel: true # Enable accel stream
+ accel_fps: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+
+ # DEPTH
+ enable_depth: true # Enable depth stream
+ depth_width: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+ depth_height: 0
+ depth_fps: 0
+ clip_distance: -2.0 # Remove from the depth image all values above a given value (meters).
+ align_depth: false # If set to true, will publish additional topics with all the images aligned to the depth image.
+
+ pointcloud.enable: true
+
+ #COLOR
+ enable_color: true # Enable color stream
+ color_width: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+ color_height: 0
+ color_fps: 0
+
+ # INFRA
+ enable_infra: false # Enable infra1 stream
+ infra_width: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+ infra_height: 0
+ infra_fps: 0
+
+ # POSE
+ enable_pose: true # Enable pose stream
+ pose_fps: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined)
+
+hollander/back_camera: # LINK https://dev.intelrealsense.com/docs/ros-wrapper#section-launch-parameters
+ ros__parameters:
+ # CAMERA IDENTITY
+ serial_no: "008222071502" # Attach to the device with the given serial number (serial_no) number.
+ camera_name: "back_camera"
+
+ # SETTINGS
+ base_frame_id: "base_link" # Define the frame_id all static transformations refers to.
+ odom_frame_id: "odom" # Define the origin coordinate system in ROS convention (X-Forward, Y-Left, Z-Up). Pose topic defines the pose relative to that system.
+ initial_reset: false # Allows resetting the device before using it. Recommended to be used for example, when a glitch prevented the device from being properly closed.
+ wait_for_device_timeout: -1.0 # Timeout for waiting for device to connect [seconds]
+ reconnect_timeout: 5.0 # Timeout between consecutive reconnection attempts [seconds]
+ enable_sync: false # ??
+
+ # TF
+ publish_tf: true # A Boolean parameter, publish or not TF at all.
+ tf_prefix: "back_camera" # This parameter allows changing the frames' IDs prefix per camera.
+ tf_publish_rate: 0.0 # A double parameter, positive values mean dynamic transform publication with specified rate, all other values mean static transform publication.
+ publish_odom_tf: true # A Boolean parameter, publish if True TF from odom_frame to pose_frame.
+
+ # IMU
+ unite_imu_method: 2 # [0-None, 1-copy, 2-linear_interpolation]
+ linear_accel_cov: 0.01 # Set the variance given to the Imu readings.
+ angular_velocity_cov: 0.01
+
+ enable_gyro: true # Enable gyro stream
+ gyro_fps: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+ enable_accel: true # Enable accel stream
+ accel_fps: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+
+ # DEPTH
+ enable_depth: true # Enable depth stream
+ depth_width: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+ depth_height: 0
+ depth_fps: 0
+ clip_distance: -2.0 # Remove from the depth image all values above a given value (meters).
+ align_depth: false # If set to true, will publish additional topics with all the images aligned to the depth image.
+
+ pointcloud.enable: true
+
+ #COLOR
+ enable_color: true # Enable color stream
+ color_width: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+ color_height: 0
+ color_fps: 0
+
+ # INFRA
+ enable_infra: false # Enable infra1 stream
+ infra_width: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
+ infra_height: 0
+ infra_fps: 0
+
+ # POSE
+ enable_pose: true # Enable pose stream
+ pose_fps: 0 # Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined)
diff --git a/src/hollander_bringup/launch/bringup.launch.py b/src/hollander_bringup/launch/bringup.launch.py
index cdb19338f05901ec35875fbc89b8a9daab022c18..80620cbc0ff2b14bb25237e4ac3eb985e21184d6 100644
--- a/src/hollander_bringup/launch/bringup.launch.py
+++ b/src/hollander_bringup/launch/bringup.launch.py
@@ -11,6 +11,7 @@ from launch import LaunchDescription
def generate_launch_description():
need_driver = DeclareLaunchArgument('need_driver', default_value='true', description='true|false')
need_teleop = DeclareLaunchArgument('need_teleop', default_value='true', description='true|false')
+ need_vision = DeclareLaunchArgument('need_vision', default_value='true', description='true|false')
driver = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('hollander_bringup'), 'launch', 'driver.launch.py')),
@@ -22,12 +23,19 @@ def generate_launch_description():
condition=IfCondition(LaunchConfiguration('need_teleop'))
)
+ vision = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('hollander_bringup'), 'launch', 'vision.teleop.launch.py')),
+ condition=IfCondition(LaunchConfiguration('need_vision'))
+ )
+
return LaunchDescription([
# Conditions
need_driver,
need_teleop,
+ need_vision,
# Launch files
driver,
teleop,
+ vision,
])
diff --git a/src/hollander_bringup/launch/joy.teleop.launch.py b/src/hollander_bringup/launch/joy.teleop.launch.py
index 6a0840a1ccb9c01a4f6a1fa836441df641e64199..788511b67478cb6fd182254ac4ac8e6f313aceff 100644
--- a/src/hollander_bringup/launch/joy.teleop.launch.py
+++ b/src/hollander_bringup/launch/joy.teleop.launch.py
@@ -2,7 +2,6 @@ import os
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
from launch import LaunchDescription
diff --git a/src/hollander_bringup/launch/vision.launch.py b/src/hollander_bringup/launch/vision.launch.py
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..6d3b7bbdff6870d49360d81ea4f7e8e2e982a46a 100644
--- a/src/hollander_bringup/launch/vision.launch.py
+++ b/src/hollander_bringup/launch/vision.launch.py
@@ -0,0 +1,54 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch import LaunchDescription
+
+
+def generate_launch_description():
+ # Get launch configuration
+ launch_dir = get_package_share_directory('hollander_bringup')
+ default_config_file = os.path.join(launch_dir, 'config', 'vision.config.yaml')
+
+ # Parameters
+ configurable_parameters = [
+ {'name': 'front_camera_name', 'default': 'front_camera', 'description': 'camera unique name'},
+ {'name': 'back_camera_name', 'default': 'back_camera', 'description': 'camera unique name'},
+ {'name': 'namespace', 'default': 'hollander', 'description': 'Namespace to avoide conflicts'},
+ {'name': 'config', 'default': default_config_file, 'description': 'Namespace to avoide conflicts'},
+ {'name': 'log_level', 'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
+ ]
+
+ def declare_configurable_parameters(parameters):
+ return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]
+
+ front_camera = Node(
+ package='realsense2_camera',
+ namespace=LaunchConfiguration("namespace"),
+ name=LaunchConfiguration("front_camera_name"),
+ executable='realsense2_camera_node',
+ parameters=[LaunchConfiguration("config")],
+ output='screen',
+ arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
+ emulate_tty=True,
+ )
+
+ back_camera = Node(
+ package='realsense2_camera',
+ namespace=LaunchConfiguration("namespace"),
+ name=LaunchConfiguration("back_camera_name"),
+ executable='realsense2_camera_node',
+ parameters=[LaunchConfiguration("config")],
+ output='screen',
+ arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
+ emulate_tty=True,
+ )
+
+ return LaunchDescription(
+ declare_configurable_parameters(configurable_parameters) +
+ [
+ front_camera,
+ back_camera
+ ])