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Merge pull request #6 from NVIDIA-ISAAC-ROS/release-3.2
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Isaac ROS 3.2
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@jaiveersinghNV
jaiveersinghNV authored Dec 11, 2024
2 parents ccdbe0c + badf0b8 commit 01ba442
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3 changes: 2 additions & 1 deletion isaac_ros_examples/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>isaac_ros_examples</name>
<version>3.1.0</version>
<version>3.2.0</version>
<description>Utilities for launching example graphs of Isaac ROS packages</description>

<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
<license>Apache-2.0</license>
<url type="website">https://developer.nvidia.com/isaac-ros/</url>
<author>Jaiveer Singh</author>
<build_depend>isaac_ros_common</build_depend>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
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45 changes: 45 additions & 0 deletions isaac_ros_multicamera_vo/config/multi_realsense.yaml
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%YAML 1.2
# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
---
common_params:
enable_infra1: True
enable_infra2: True
enable_color: False
enable_depth: False
enable_rgbd: False
enable_gyro: False
enable_accel: False
pointcloud.enable: False
publish_tf: True
enable_sync: True
initial_reset: True
rgb_camera.color_profile: '640,360,30'
depth_module.infra_profile: '640,360,30'
depth_module.enable_auto_exposure: True
depth_module.emitter_enabled: 0

cameras:
- camera_name: camera1
serial_no: '243222071526'
usb_port_id: ''
depth_module.inter_cam_sync_mode: 1

- camera_name: camera2
serial_no: '238222076390'
usb_port_id: ''
depth_module.inter_cam_sync_mode: 2
240 changes: 240 additions & 0 deletions isaac_ros_multicamera_vo/foxglove_layouts/foxglove_layout_realsense.json
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{
"configById": {
"Image!3qezyf6": {
"cameraState": {
"distance": 20,
"perspective": true,
"phi": 60,
"target": [
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],
"targetOffset": [
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0
],
"targetOrientation": [
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1
],
"thetaOffset": 45,
"fovy": 45,
"near": 0.5,
"far": 5000
},
"followMode": "follow-pose",
"scene": {},
"transforms": {},
"topics": {},
"layers": {},
"publish": {
"type": "point",
"poseTopic": "/move_base_simple/goal",
"pointTopic": "/clicked_point",
"poseEstimateTopic": "/initialpose",
"poseEstimateXDeviation": 0.5,
"poseEstimateYDeviation": 0.5,
"poseEstimateThetaDeviation": 0.26179939
},
"imageMode": {
"imageTopic": "/camera1/infra1/image_rect_raw",
"calibrationTopic": "/camera1/infra1/camera_info"
}
},
"Image!3rc5faz": {
"cameraState": {
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"perspective": true,
"phi": 60,
"target": [
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],
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],
"targetOrientation": [
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"thetaOffset": 45,
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"near": 0.5,
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},
"followMode": "follow-pose",
"scene": {},
"transforms": {},
"topics": {},
"layers": {},
"publish": {
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"poseTopic": "/move_base_simple/goal",
"pointTopic": "/clicked_point",
"poseEstimateTopic": "/initialpose",
"poseEstimateXDeviation": 0.5,
"poseEstimateYDeviation": 0.5,
"poseEstimateThetaDeviation": 0.26179939
},
"imageMode": {
"imageTopic": "/camera2/infra1/image_rect_raw",
"calibrationTopic": "/camera2/infra1/camera_info"
}
},
"3D!18i6zy7": {
"layers": {
"845139cb-26bc-40b3-8161-8ab60af4baf5": {
"visible": true,
"frameLocked": true,
"label": "Grid",
"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
"layerId": "foxglove.Grid",
"size": 10,
"divisions": 10,
"lineWidth": 1,
"color": "#248eff",
"position": [
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"rotation": [
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"order": 1
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},
"cameraState": {
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"phi": 63.834320193910614,
"thetaOffset": 68.73179120726562,
"targetOffset": [
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-8.059051112281559e-16
],
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"fovy": 45,
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},
"followMode": "follow-pose",
"followTf": "odom",
"scene": {
"meshUpAxis": "z_up",
"transforms": {
"labelSize": 0.1
}
},
"transforms": {
"frame:base_link": {
"visible": true
},
"frame:camera1_infra1_frame": {
"visible": true
},
"frame:camera1_infra2_frame": {
"visible": true
},
"frame:camera2_infra1_frame": {
"visible": true
},
"frame:camera2_infra2_frame": {
"visible": true
}
},
"topics": {
"/robot_description": {
"visible": true
},
"/pointcloud": {
"visible": false,
"colorField": "z",
"colorMode": "colormap",
"colorMap": "turbo"
},
"/visual_slam/tracking/vo_path": {
"visible": true,
"lineWidth": 0.05,
"gradient": [
"#17c426ff",
"#17c426ff"
]
},
"/visual_slam/vis/observations_cloud": {
"visible": true,
"colorField": "rgb",
"colorMode": "rgb",
"colorMap": "turbo",
"pointSize": 3
},
"/visual_slam/vis/landmarks_cloud": {
"visible": true
},
"/camera1/infra1/image_rect_raw": {
"visible": true,
"frameLocked": true,
"cameraInfoTopic": "/camera1/infra1/camera_info",
"distance": 1,
"planarProjectionFactor": 0,
"color": "#ffffff"
},
"/camera2/infra1/image_rect_raw": {
"visible": true,
"frameLocked": true,
"cameraInfoTopic": "/camera2/infra1/camera_info",
"distance": 1,
"planarProjectionFactor": 0,
"color": "#ffffff"
}
},
"publish": {
"type": "pose",
"poseTopic": "/goal_pose",
"pointTopic": "/clicked_point",
"poseEstimateTopic": "/initialpose",
"poseEstimateXDeviation": 0.5,
"poseEstimateYDeviation": 0.5,
"poseEstimateThetaDeviation": 0.26179939
},
"imageMode": {}
}
},
"globalVariables": {},
"userNodes": {},
"playbackConfig": {
"speed": 1
},
"layout": {
"direction": "row",
"first": {
"first": "Image!3qezyf6",
"second": "Image!3rc5faz",
"direction": "column"
},
"second": "3D!18i6zy7",
"splitPercentage": 37.166666666666664
}
}
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