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1 add support for realsense cameras #2

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1 add support for realsense cameras #2

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eab3266
Add realsense camera support (technology from the depths of hell)
MagicHD Sep 12, 2024
6df0757
Fixed git submodules
Thanco002 Sep 12, 2024
9f2f319
Added Node with visualization, Needs Optimization
Thanco002 Sep 23, 2024
cb6f8d7
Fixed the depth camera outputs (now outputs data to topics)
Thanco002 Sep 30, 2024
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3 changes: 3 additions & 0 deletions .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -6,3 +6,6 @@
path = ros_aruco_opencv
url = https://github.com/NASAKnights/ros_aruco_opencv
branch = humble
[submodule "realsense-ros"]
path = realsense-ros
url = https://github.com/IntelRealSense/realsense-ros
2 changes: 1 addition & 1 deletion nk_vision_pkg/CMakeLists.txt
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Expand Up @@ -34,4 +34,4 @@ install(
DESTINATION lib/${PROJECT_NAME}
)

ament_auto_package(INSTALL_TO_SHARE launch config)
ament_auto_package(INSTALL_TO_SHARE launch config scripts)
139 changes: 93 additions & 46 deletions nk_vision_pkg/launch/nk_vision.launch.py
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Expand Up @@ -31,9 +31,9 @@
# POSSIBILITY OF SUCH DAMAGE.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import AnyLaunchDescriptionSource
from launch.launch_description_sources import AnyLaunchDescriptionSource, PythonLaunchDescriptionSource
import launch_ros.actions
from ament_index_python.packages import get_package_share_directory

Expand All @@ -44,58 +44,105 @@ def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
return LaunchDescription([

DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation clock if true'),
# DeclareLaunchArgument(
# 'use_sim_time',
# default_value='false',
# description='Use simulation clock if true'),

launch_ros.actions.Node(
package='image_publisher', executable='image_publisher_node', output='screen',
arguments=[device_0],
parameters=[{'use_sim_time': use_sim_time,
'filename': device_0,
'publish_rate': 50.0,
'camera_info_url': 'package://nk_vision/config/arducam.yaml',
'frame_id': 'camera_2'}],
remappings=[('image_raw', '/camera_2/image_raw'),
('camera_info', '/camera_2/camera_info')]),
# launch_ros.actions.Node(
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Need to switch these back on before merge

# package='image_publisher', executable='image_publisher_node', output='screen',
# arguments=[device_0],
# parameters=[{'use_sim_time': use_sim_time,
# 'filename': device_0,
# 'publish_rate': 50.0,
# 'camera_info_url': 'package://nk_vision/config/arducam.yaml',
# 'frame_id': 'camera_2'}],
# remappings=[('image_raw', '/camera_2/image_raw'),
# ('camera_info', '/camera_2/camera_info')]),g

launch_ros.actions.Node(
package='image_publisher', executable='image_publisher_node', output='screen',
arguments=[device_1],
parameters=[{'use_sim_time': use_sim_time,
'publish_rate': 50.0,
'filename': device_1,
'camera_info_url': 'package://nk_vision/config/arducam.yaml',
'frame_id': 'camera_1'}],
remappings=[('image_raw', '/camera_1/image_raw'),
('camera_info', '/camera_1/camera_info')]),
# launch_ros.actions.Node(
# package='image_publisher', executable='image_publisher_node', output='screen',
# arguments=[device_1],
# parameters=[{'use_sim_time': use_sim_time,
# 'publish_rate': 50.0,
# 'filename': device_1,
# 'camera_info_url': 'package://nk_vision/config/arducam.yaml',
# 'frame_id': 'camera_1'}],
# remappings=[('image_raw', '/camera_1/image_raw'),
# ('camera_info', '/camera_1/camera_info')]),

launch_ros.actions.Node(
package='rviz2', executable='rviz2', output='screen',
arguments=['-d', get_package_share_directory('nk_vision') + '/config/config_file.rviz']
),
# launch_ros.actions.Node(
# package='rviz2', executable='rviz2', output='screen',
# arguments=['-d', get_package_share_directory('nk_vision') + '/config/config_file.rviz']
# ),

IncludeLaunchDescription(AnyLaunchDescriptionSource(
get_package_share_directory('nk_vision') + '/launch/aruco_tracker_1.launch.xml')),
# IncludeLaunchDescription(AnyLaunchDescriptionSource(
# get_package_share_directory('nk_vision') + '/launch/aruco_tracker_1.launch.xml')),

IncludeLaunchDescription(AnyLaunchDescriptionSource(
get_package_share_directory('nk_vision') + '/launch/aruco_tracker_2.launch.xml')),
# IncludeLaunchDescription(AnyLaunchDescriptionSource(
# get_package_share_directory('nk_vision') + '/launch/aruco_tracker_2.launch.xml')),

IncludeLaunchDescription(AnyLaunchDescriptionSource(
get_package_share_directory('frc_2024_field_description') + '/launch/main.launch.py')),
# IncludeLaunchDescription(AnyLaunchDescriptionSource(
# get_package_share_directory('frc_2024_field_description') + '/launch/main.launch.py')),

IncludeLaunchDescription(AnyLaunchDescriptionSource(
get_package_share_directory('robot_2024_description') + '/launch/main.launch.py')),
# IncludeLaunchDescription(AnyLaunchDescriptionSource(
# get_package_share_directory('robot_2024_description') + '/launch/main.launch.py')),

# launch_ros.actions.Node(
# package='nk_vision', executable='pose_estimation.py', output='screen'),
# # launch_ros.actions.Node(
# # package='nk_vision', executable='pose_estimation.py', output='screen'),

launch_ros.actions.Node(
package='nk_vision', executable='tf2network_table.py', output='screen',
parameters=[{'transfer_topics': ["base_link_1", "base_link_2", "base_link_3"]}]),
# launch_ros.actions.Node(
# package='nk_vision', executable='tf2network_table.py', output='screen',
# parameters=[{'transfer_topics': ["base_link_1", "base_link_2", "base_link_3"]}]),

launch_ros.actions.Node(
package='nk_vision', executable='network_table2tf.py', output='screen',
parameters=[{'transfer_topics': ["base_link"]}]),
# launch_ros.actions.Node(
# package='nk_vision', executable='network_table2tf.py', output='screen',
# parameters=[{'transfer_topics': ["base_link"]}]),

# ExecuteProcess(
# cmd=['ros2', 'bag', 'record',
# '/tf',
# '/camera_1/robot_description',
# '/camera_2/robot_description',
# '/robot_description',
# '/joint_states',
# '/tf',
# '/field/robot_description',
# '-o',
# '/home/nasa-knights/vision_logs/data'],
# output='screen'
# ),

IncludeLaunchDescription(PythonLaunchDescriptionSource(
get_package_share_directory('realsense2_camera') + '/launch/rs_launch.py'),
launch_arguments=[('camera_name', 'rs_cam_1'),
# ("serial_no", "'036222071448'"),
('enable_color', 'true'),
('rgb_camera.color_format', 'RGB8'),
('rgb_camera.enable_auto_exposure', 'true'),
('enable_depth', 'true'),
('enable_infra', 'false'),
('enable_infra1', 'false'),
('enable_infra2', 'false'),
('depth_module.depth_profile', '640,480,15'),
('depth_module.depth_format', 'Z16'),
('depth_module.infra_format', 'RGB8'),
('depth_module.hdr_enabled', 'false'),
('depth_module.enable_auto_exposure', 'true'),
('enable_sync', 'true'),
('enable_rgbd', 'true'),
# ('enable_gyro'),
# ('enable_accel'),
# ('clip_distance'),
('publish_tf', 'true'),
('tf_publish_rate', '10.0'),
('pointcloud.enable', 'true'),
('align_depth.enable', 'true'),
('decimation_filter.enable', 'false'),
('spatial_filter.enable', 'true'),
('temporal_filter.enable', 'true'),
('disparity_filter.enable', 'false'),
('hole_filling_filter.enable', 'false'),
('reconnect_timeout', '30.0' )]
)
])
1 change: 1 addition & 0 deletions nk_vision_pkg/nk_vision/pose_estimation.py
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Expand Up @@ -80,6 +80,7 @@ def find_avg_pose(self):
if (len(self.pose_estimates) != 0 ):
self.get_logger().info('Recent Markers Found, fusing', throttle_duration_sec = 1.0)
self.find_avg_position()
self.pose_sources
self.find_avg_orientation()
self.pose.position.x = self.avg_position[0]
self.pose.position.y = self.avg_position[1]
Expand Down
1 change: 1 addition & 0 deletions nk_vision_pkg/scripts/startup.sh
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@@ -1,3 +1,4 @@
#!/bin/bash
cd /home//home/nasa-knights/vision_logs
source /vision_ws/install/setup.bash
ros2 launch nk_vision nk_vision.launch.py > /vision_ws/log/recent.log
1 change: 1 addition & 0 deletions realsense-ros
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Submodule realsense-ros added at 1cbd81