From 5aa1570eb28780be7e43fc04c197b0840762673c Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Thu, 12 Sep 2024 09:52:38 +0800 Subject: [PATCH 1/4] readme: add vision kit to main readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 271790c..fb6e2bd 100644 --- 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 From 11d28fffe5c305c5204a3d64241ba2a65e8b94e5 Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Thu, 12 Sep 2024 10:41:16 +0800 Subject: [PATCH 2/4] docs: update docs --- docs/INSTALLATION.md | 18 +++++++++++++++--- docs/RUN.md | 2 +- src/wr_devkit_bringup/README.md | 6 +++--- 3 files changed, 19 insertions(+), 7 deletions(-) diff --git a/docs/INSTALLATION.md b/docs/INSTALLATION.md index 445d5ee..f44c9e6 100644 --- 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 +$ cd +$ 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
wrp_ros2 | + | Vision Sensor Kit | realsense-ros
usb_cam | + | W200d Sensor Kit | wrp_ros2 | | Ranger Mini 2.0 | ranger_ros2
ugv_sdk | - | Vision Kit | realsense-ros
usb_cam | + | Scout Mini | scout_ros2
ugv_sdk | ## Build the Workspace After installing the dependencies, you can build the workspace by running the following commands: ```bash -$ cd /wr_devkit_navigation +$ cd /wr_devkit_navigation $ source /opt/ros/humble/setup.bash $ colcon build --symlink-install ``` diff --git a/docs/RUN.md b/docs/RUN.md index 4d7d7b0..db2aaa2 100644 --- 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/src/wr_devkit_bringup/README.md b/src/wr_devkit_bringup/README.md index 0038b3d..34d834c 100644 --- 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
Possible values: scout_mini, ranger_mini_v2 | | front_camera | Front camera model | `""`
Possible values: rgb_camera, realsense_d435i
Leave blank for "none" | | rear_camera | Rear camera model | `""`
Possible values: rgb_camera, realsense_d435i
Leave blank for "none" | | left_camera | Left camera model | `""`
Possible values: rgb_camera, realsense_d435i
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 | | -------------- | ---------------------------- | -------------------------------------- | From 6e27a2bdbd441a529e5679d4d665edf86a2cfb66 Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Thu, 12 Sep 2024 10:41:30 +0800 Subject: [PATCH 3/4] bugfix: fix camera names --- .../config/rgb_camera.param.yaml | 8 ++++---- .../config/nav2_scout_mini_rtab.param.yaml | 2 +- .../launch/vslam/wr_devkit_rtabmap.launch.py | 6 +++--- 3 files changed, 8 insertions(+), 8 deletions(-) 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 index a19d164..09bf515 100644 --- 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/src/wr_devkit_bringup/config/nav2_scout_mini_rtab.param.yaml b/src/wr_devkit_bringup/config/nav2_scout_mini_rtab.param.yaml index 14e55e5..21ec236 100644 --- 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 index d4aef9d..a4b2a6b 100644 --- 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( From 8399a13b792fbd1c9e76df839147b30bf634a6dc Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Thu, 12 Sep 2024 10:47:33 +0800 Subject: [PATCH 4/4] kits: top: rename d435 param files to use d435i --- .../config/{left_d435.param.yaml => front_d435i.param.yaml} | 2 +- .../config/{right_d435.param.yaml => left_d435i.param.yaml} | 2 +- .../config/{front_d435.param.yaml => rear_d435i.param.yaml} | 2 +- .../config/{rear_d435.param.yaml => right_d435i.param.yaml} | 2 +- .../top/vision_sensor_kit_bringup/launch/sensor_kit.launch.py | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) rename src/kits/top/vision_sensor_kit_bringup/config/{left_d435.param.yaml => front_d435i.param.yaml} (93%) rename src/kits/top/vision_sensor_kit_bringup/config/{right_d435.param.yaml => left_d435i.param.yaml} (93%) rename src/kits/top/vision_sensor_kit_bringup/config/{front_d435.param.yaml => rear_d435i.param.yaml} (88%) rename src/kits/top/vision_sensor_kit_bringup/config/{rear_d435.param.yaml => right_d435i.param.yaml} (88%) diff --git a/src/kits/top/vision_sensor_kit_bringup/config/left_d435.param.yaml b/src/kits/top/vision_sensor_kit_bringup/config/front_d435i.param.yaml similarity index 93% rename from src/kits/top/vision_sensor_kit_bringup/config/left_d435.param.yaml rename to src/kits/top/vision_sensor_kit_bringup/config/front_d435i.param.yaml index 276c057..abd22ed 100644 --- a/src/kits/top/vision_sensor_kit_bringup/config/left_d435.param.yaml +++ b/src/kits/top/vision_sensor_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/src/kits/top/vision_sensor_kit_bringup/config/right_d435.param.yaml b/src/kits/top/vision_sensor_kit_bringup/config/left_d435i.param.yaml similarity index 93% rename from src/kits/top/vision_sensor_kit_bringup/config/right_d435.param.yaml rename to src/kits/top/vision_sensor_kit_bringup/config/left_d435i.param.yaml index 276c057..abd22ed 100644 --- a/src/kits/top/vision_sensor_kit_bringup/config/right_d435.param.yaml +++ b/src/kits/top/vision_sensor_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/src/kits/top/vision_sensor_kit_bringup/config/front_d435.param.yaml b/src/kits/top/vision_sensor_kit_bringup/config/rear_d435i.param.yaml similarity index 88% rename from src/kits/top/vision_sensor_kit_bringup/config/front_d435.param.yaml rename to src/kits/top/vision_sensor_kit_bringup/config/rear_d435i.param.yaml index 2bb2473..abd22ed 100644 --- a/src/kits/top/vision_sensor_kit_bringup/config/front_d435.param.yaml +++ b/src/kits/top/vision_sensor_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/rear_d435.param.yaml b/src/kits/top/vision_sensor_kit_bringup/config/right_d435i.param.yaml similarity index 88% rename from src/kits/top/vision_sensor_kit_bringup/config/rear_d435.param.yaml rename to src/kits/top/vision_sensor_kit_bringup/config/right_d435i.param.yaml index d334a55..abd22ed 100644 --- a/src/kits/top/vision_sensor_kit_bringup/config/rear_d435.param.yaml +++ b/src/kits/top/vision_sensor_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 index 90424ba..654be80 100644 --- 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) ])