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add TF publish script and config files

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datean
2024-12-24 10:17:01 +08:00
parent db2530fa65
commit a134a1059f
4 changed files with 218 additions and 1 deletions
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isaac_orbbec_launch/param/orbbec_perceptor_detached.yaml
+101
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nvblox_config:
container_name: 'nvblox_container'
attach_to_container: false
# container_name: 'shared_orbbec_container'
# attach_to_container: true
node_name: 'nvblox_node'
remappings:
- depth:
image: '/front_camera/depth/image_raw'
info: '/front_camera/depth/camera_info'
color:
image: '/front_camera/color/image_raw'
info: '/front_camera/color/camera_info'
- depth:
image: '/left_camera/depth/image_raw'
info: '/left_camera/depth/camera_info'
color:
image: '/left_camera/color/image_raw'
info: '/left_camera/color/camera_info'
- depth:
image: '/right_camera/depth/image_raw'
info: '/right_camera/depth/camera_info'
color:
image: '/right_camera/color/image_raw'
info: '/right_camera/color/camera_info'
- depth:
image: '/rear_camera/depth/image_raw'
info: '/rear_camera/depth/camera_info'
color:
image: '/rear_camera/color/image_raw'
info: '/rear_camera/color/camera_info'
config_files:
- package: 'isaac_ros_perceptor_bringup'
path: 'params/default_nvblox_config.yaml'
parameters:
- use_lidar: false
- input_qos: "SENSOR_DATA"
- map_clearing_frame_id: "camera_link"
- static_mapper:
esdf_slice_height: 0.0
esdf_slice_min_height: 0.09
esdf_slice_max_height: 0.65
- dynamic_mapper:
esdf_slice_height: 0.0
esdf_slice_min_height: 0.09
esdf_slice_max_height: 0.65
cuvslam_config:
container_name: 'cuvslam_container'
attach_to_container: false
# container_name: 'shared_orbbec_container'
# attach_to_container: true
node_name: 'cuvslam_node'
remappings:
stereo_images:
- left:
image: '/front_camera/left_ir/image_raw'
info: '/front_camera/left_ir/camera_info'
optical_frame: 'front_camera_left_ir_optical_frame'
right:
image: '/front_camera/right_ir/image_raw'
info: '/front_camera/right_ir/camera_info'
optical_frame: 'front_camera_right_ir_optical_frame'
- left:
image: '/rear_camera/left_ir/image_raw'
info: '/rear_camera/left_ir/camera_info'
optical_frame: 'rear_camera_left_ir_optical_frame'
right:
image: '/rear_camera/right_ir/image_raw'
info: '/rear_camera/right_ir/camera_info'
optical_frame: 'rear_camera_right_ir_optical_frame'
- left:
image: '/left_camera/left_ir/image_raw'
info: '/left_camera/left_ir/camera_info'
optical_frame: 'left_camera_left_ir_optical_frame'
right:
image: '/left_camera/right_ir/image_raw'
info: '/left_camera/right_ir/camera_info'
optical_frame: 'left_camera_right_ir_optical_frame'
- left:
image: '/right_camera/left_ir/image_raw'
info: '/right_camera/left_ir/camera_info'
optical_frame: 'right_camera_left_ir_optical_frame'
right:
image: '/right_camera/right_ir/image_raw'
info: '/right_camera/right_ir/camera_info'
optical_frame: 'right_camera_right_ir_optical_frame'
config_files:
- package: 'isaac_ros_perceptor_bringup'
path: 'params/default_cuvslam_config.yaml'
parameters:
- image_jitter_threshold_ms: 67.0
- input_qos: "SENSOR_DATA"
common_config:
map_frame: 'map'
odom_frame: 'odom'
robot_frame: 'base_link'
extra_topics:
- '/tf_static'