Merge pull request #10 from westonrobot/bugfix-cam

Bugfix cam
westonrobot · Sep 12, 2024 · 992819d · 992819d
2 parents 9c4c022 + 8399a13
commit 992819d
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Showing 12 changed files with 33 additions and 21 deletions.
diff --git a/README.md b/README.md
@@ -20,7 +20,7 @@ The following hardware configurations are supported:
 | Sensor kit               | Mount Location | Documentation                                                                                                                             | Source Code                                                            |
 | ------------------------ | -------------- | ----------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------- |
 | Livox Mid360 Lidar + IMU | Top            | [docs](https://docs.westonrobot.com/wr_dev_kit/ugv_dev_kit_v1/ugv_devkit_mid360_extension.html#ref-ugv-devkit-livox-mid360-imu-extension) | [mid360_sensor_kit_bringup](./src/kits/top/mid360_sensor_kit_bringup/) |
-| Realsense D435           | Top            | TBD                                                                                                                                       | [realsense-ros](https://github.com/IntelRealSense/realsense-ros.git)   |
+| Vision                   | Top            | [docs](https://docs.westonrobot.com/wr_dev_kit/ugv_dev_kit_v1/ugv_devkit_vision_extension.html#ref-ugv-devkit-vision-extension)           | [vision_sensor_kit_bringup](./src/kits/top/vision_sensor_kit_bringup/)   |
 | W200D Ultrasonic Sensors | Base           | TBD                                                                                                                                       | [w200d_sensor_kit_bringup](./src/kits/base/w200d_sensor_kit_bringup/)  |
 
 ### Robot Bases

diff --git a/docs/INSTALLATION.md b/docs/INSTALLATION.md
@@ -1,7 +1,17 @@
 # Installation Guide
-Each sensor kit and robot base has its own set of dependencies. Please follow the instructions below to install the necessary items for your specific hardware configuration.
+
+## Getting this repository
+This repository is intended to be used as a ROS2 colcon workspace itself (i.e. you do not need to create your own colcon workspace, though it is possible to do so).
+
+```bash
+$ mkdir -p <parent-directory>
+$ cd <parent-directory>
+$ git clone https://github.com/westonrobot/wr_devkit_navigation.git
+```
 
 ## Install Dependencies
+Each sensor kit and robot base has its own set of dependencies. Please follow the instructions below to install the necessary items for your specific hardware configuration.
+
 ### Common Dependencies
 The following dependencies are common to multiple sensor kits and robot bases and should be installed regardless of the specific hardware configuration.
 
@@ -61,14 +71,16 @@ All ROS driver packages are listed in the [navigation.repos](/navigation.repos)
   | Component                           | ROS Driver Packages Needed     |
   | ----------------------------------- | ------------------------------ |
   | Livox Mid360 Lidar + IMU Sensor Kit | livox_ros_driver2<br/>wrp_ros2 |
+  | Vision Sensor Kit                   | realsense-ros<br/>usb_cam      |
+  | W200d Sensor Kit                    | wrp_ros2                       |
   | Ranger Mini 2.0                     | ranger_ros2<br/>ugv_sdk        |
-  | Vision Kit                          | realsense-ros<br/>usb_cam      |
+  | Scout Mini                          | scout_ros2<br/>ugv_sdk         |
 
 ## Build the Workspace
 
 After installing the dependencies, you can build the workspace by running the following commands:
 ```bash
-$ cd <your-workspace>/wr_devkit_navigation
+$ cd <parent-directory>/wr_devkit_navigation
 $ source /opt/ros/humble/setup.bash
 $ colcon build --symlink-install
 ```
diff --git a/docs/RUN.md b/docs/RUN.md
@@ -12,7 +12,7 @@ Sample launch files can be found in the [wr_devkit_bringup](/src/wr_devkit_bring
 Below is the typical workflow to bring up the robot and run some sample applications.  
 > **Remember to source the ROS Workspace first**
 
-
+> **NOTE:** This example assumes a ranger mini v2 robot base
 
 ## Setup hardware
 * Bringup CAN Bus for Robot bases

diff --git a/...r_kit_bringup/config/left_d435.param.yaml → ...kit_bringup/config/front_d435i.param.yaml b/...r_kit_bringup/config/left_d435.param.yaml → ...kit_bringup/config/front_d435i.param.yaml
@@ -1,4 +1,4 @@
-serial_no: " "
+serial_no: ""
 rgb_camera.color_profile: 640x480x15
 depth_module.depth_profile: 640x480x15
 depth_module.infra_profile: 640x480x15

diff --git a/..._kit_bringup/config/right_d435.param.yaml → ..._kit_bringup/config/left_d435i.param.yaml b/..._kit_bringup/config/right_d435.param.yaml → ..._kit_bringup/config/left_d435i.param.yaml
@@ -1,4 +1,4 @@
-serial_no: " "
+serial_no: ""
 rgb_camera.color_profile: 640x480x15
 depth_module.depth_profile: 640x480x15
 depth_module.infra_profile: 640x480x15

diff --git a/..._kit_bringup/config/front_d435.param.yaml → ..._kit_bringup/config/rear_d435i.param.yaml b/..._kit_bringup/config/front_d435.param.yaml → ..._kit_bringup/config/rear_d435i.param.yaml
@@ -1,4 +1,4 @@
-serial_no: "241122070090"
+serial_no: ""
 rgb_camera.color_profile: 640x480x15
 depth_module.depth_profile: 640x480x15
 depth_module.infra_profile: 640x480x15

diff --git a/src/kits/top/vision_sensor_kit_bringup/config/rgb_camera.param.yaml b/src/kits/top/vision_sensor_kit_bringup/config/rgb_camera.param.yaml
@@ -1,4 +1,4 @@
-/front_camera/front_rgb:
+front_cam/rgb:
     ros__parameters:
       video_device: ""
       framerate: 25.0
@@ -22,7 +22,7 @@
       autofocus: false
       focus: -1
 
-/rear_camera/rear_rgb:
+rear_cam/rgb:
     ros__parameters:
       video_device: ""
       framerate: 25.0
@@ -46,7 +46,7 @@
       autofocus: false
       focus: -1
 
-/left_camera/left_rgb:
+left_cam/rgb:
     ros__parameters:
       video_device: "/dev/video4"
       framerate: 25.0
@@ -70,7 +70,7 @@
       autofocus: false
       focus: -1
 
-/right_camera/right_rgb:
+right_cam/rgb:
     ros__parameters:
       video_device: "/dev/video14"
       framerate: 25.0

diff --git a/...r_kit_bringup/config/rear_d435.param.yaml → ...kit_bringup/config/right_d435i.param.yaml b/...r_kit_bringup/config/rear_d435.param.yaml → ...kit_bringup/config/right_d435i.param.yaml
@@ -1,4 +1,4 @@
-serial_no: "244222076237"
+serial_no: ""
 rgb_camera.color_profile: 640x480x15
 depth_module.depth_profile: 640x480x15
 depth_module.infra_profile: 640x480x15

diff --git a/src/kits/top/vision_sensor_kit_bringup/launch/sensor_kit.launch.py b/src/kits/top/vision_sensor_kit_bringup/launch/sensor_kit.launch.py
@@ -139,7 +139,7 @@ def generate_launch_description():
             launch_arguments={
                 "camera_name": "d435i",
                 "camera_namespace": pos + "_cam",
-                "config_file": PathJoinSubstitution([FindPackageShare("vision_sensor_kit_bringup"), 'config', pos + '_d435.param.yaml'])
+                "config_file": PathJoinSubstitution([FindPackageShare("vision_sensor_kit_bringup"), 'config', pos + '_d435i.param.yaml'])
             }.items(),
         ) for cam_type, pos in zip(camera_types, camera_positions)
     ])

diff --git a/src/wr_devkit_bringup/README.md b/src/wr_devkit_bringup/README.md
@@ -18,7 +18,7 @@ This package is meant to be a starting point for users to build upon and customi
   | use_namespace | Whether to apply a namespace | False                                                                             |
   | namespace     | Top-level namespace          | ""                                                                                |
   | use_sim_time  | Whether to use sim time      | False                                                                             |
-  | robot_model   | Whether to use sim time      | ranger_mini_v2                                                                    |
+  | robot_model   | Whether to use sim time      | ranger_mini_v2<br/> Possible values: scout_mini, ranger_mini_v2                   |
   | front_camera  | Front camera model           | `""`<br/> Possible values: rgb_camera, realsense_d435i<br/>Leave blank for "none" |
   | rear_camera   | Rear camera model            | `""`<br/> Possible values: rgb_camera, realsense_d435i<br/>Leave blank for "none" |
   | left_camera   | Left camera model            | `""`<br/> Possible values: rgb_camera, realsense_d435i<br/>Leave blank for "none" |
@@ -40,7 +40,7 @@ This package is meant to be a starting point for users to build upon and customi
 * [wr_devkit_rtabmap.launch.py](./launch/vslam/wr_devkit_rtabmap.launch.py)
   * Sample launch file to perform 2D vSLAM using rtabmap
   * Assumes the following configuration by default
-    * Top sensor kit: mid360_sensor_kit
+    * Top sensor kit: vision_sensor_kit
 
   | Argument     | Description                               | Default Value |
   | ------------ | ----------------------------------------- | ------------- |
@@ -71,7 +71,7 @@ This package is meant to be a starting point for users to build upon and customi
   * Sample launch file to perform 2D navigation using nav2
     * Robot base: Scout mini
     * Chassis: ugv_devkit_v1
-    * Top sensor kit: mid360_sensor_kit
+    * Top sensor kit: vision_sensor_kit
 
   | Argument       | Description                  | Default Value                          |
   | -------------- | ---------------------------- | -------------------------------------- |

diff --git a/src/wr_devkit_bringup/config/nav2_scout_mini_rtab.param.yaml b/src/wr_devkit_bringup/config/nav2_scout_mini_rtab.param.yaml
@@ -280,7 +280,7 @@ global_costmap:
         observation_sources: pointcloud
         combination_method: 1
         pointcloud:  # no frame set, uses frame from message
-          topic: /front_d435/front_d435/depth/color/points
+          topic: /front_cam/d435i/depth/color/points
           max_obstacle_height: 2.0
           min_obstacle_height: 0.0
           obstacle_max_range: 2.5

diff --git a/src/wr_devkit_bringup/launch/vslam/wr_devkit_rtabmap.launch.py b/src/wr_devkit_bringup/launch/vslam/wr_devkit_rtabmap.launch.py
@@ -56,9 +56,9 @@ def generate_launch_description():
     remappings=[
         ('odom','/odom'),
         ('scan','/scan'),
-        ('rgb/image', '/front_d435/front_d435/color/image_raw'),
-        ('rgb/camera_info', '/front_d435/front_d435/color/camera_info'),
-        ('depth/image', '/front_d435/front_d435/depth/image_rect_raw')
+        ('rgb/image', '/front_cam/d435i/color/image_raw'),
+        ('rgb/camera_info', '/front_cam/d435i/color/camera_info'),
+        ('depth/image', '/front_cam/d435i/depth/image_rect_raw')
     ]
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(