Adding vision launch

src/hollander_bringup/config/vision.config.yaml

+/**:
+  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)

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,
     ])

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
 
 

src/hollander_bringup/launch/vision.launch.py

+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
+        ])