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run all nodes in launch.py

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datean
2024-12-24 10:17:01 +08:00
parent 0ff748b491
commit a6a6d31780
3 changed files with 681 additions and 4 deletions
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isaac_orbbec_launch/launch/base_static_transforms_publisher.py
+11 -1
View File
@@ -7,6 +7,7 @@ import yaml
from scipy.spatial.transform import Rotation as R
import sys
import os
import argparse
def rotation_matrix_to_quaternion(rotation_matrix):
r = R.from_matrix(rotation_matrix)
@@ -87,7 +88,16 @@ def main():
print("Usage: python static_transforms_publisher.py <path_to_yaml>")
sys.exit(1)
yaml_path = sys.argv[1]
# yaml_path = sys.argv[1]
parser = argparse.ArgumentParser(description="Base Static Transforms Publisher")
parser.add_argument('--dev_matrices', type=str, required=True,
help="Path to the device extrinsics matrices file")
args = parser.parse_args()
yaml_path = args.dev_matrices
# Use the dev_matrices argument
print(f"Using device matrices file: {args.dev_matrices}")
rclpy.init()
node = StaticTransformsPublisher(yaml_path)
isaac_orbbec_launch/launch/orbbec_perceptor.launch.py
+42 -3
View File
@@ -12,11 +12,22 @@ from launch.actions import GroupAction
def generate_launch_description():
orbbec_camera_bringup_dir = get_package_share_directory('orbbec_camera')
isaac_orbbec_launch_dir = get_package_share_directory('isaac_orbbec_launch')
perceptor_bringup_dir = get_package_share_directory('isaac_ros_perceptor_bringup')
perceptor_config_file = DeclareLaunchArgument(
'perceptor_config_file', default_value='param/orbbec_perceptor_detached.yaml',
default_perceptor_config_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'orbbec_perceptor_detached.yaml')
perceptor_odom_rviz_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'perceptor_odom.rviz')
default_dev_matrices_file = os.path.join(isaac_orbbec_launch_dir, 'config', 'matrices_SN1423724335594.yaml')
perceptor_config_file_arg = DeclareLaunchArgument(
'perceptor_config_file', default_value=default_perceptor_config_file,
description="Perceptor configuration")
perceptor_odom_rviz_file_arg = DeclareLaunchArgument(
'perceptor_odom_rviz_file', default_value=perceptor_odom_rviz_file,
description="Perceptor configuration")
dev_matrices_arg = DeclareLaunchArgument(
'dev_matrices', default_value=default_dev_matrices_file,
description='default device extrinsics matrices')
from_bag_arg = DeclareLaunchArgument(
'from_bag', default_value='False',
description='Whether to run from a bag or live realsense data')
@@ -39,6 +50,22 @@ def generate_launch_description():
'component_container_name': component_container_name_arg}.items(),
condition=UnlessCondition(LaunchConfiguration('from_bag')))
dev_matrices_arg = DeclareLaunchArgument(
'dev_matrices', default_value=default_dev_matrices_file,
description='default device extrinsics matrices')
base_static_transforms_publisher = ExecuteProcess(
cmd=[
'python3',
os.path.join(
get_package_share_directory('isaac_orbbec_launch'), # Adjust this package name
'launch',
'base_static_transforms_publisher.py'
),
'--dev_matrices', LaunchConfiguration('dev_matrices')
],
output='screen'
)
perceptor_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
perceptor_bringup_dir, 'launch', 'rgbd_perceptor.launch.py')]),
@@ -58,13 +85,25 @@ def generate_launch_description():
output='screen',
condition=IfCondition(LaunchConfiguration('from_bag')))
rviz2_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', LaunchConfiguration('perceptor_odom_rviz_file')]
)
return LaunchDescription([
perceptor_config_file,
perceptor_config_file_arg,
perceptor_odom_rviz_file_arg,
dev_matrices_arg,
from_bag_arg,
bag_path_arg,
shared_orbbec_container,
orbbec_launch,
base_static_transforms_publisher,
perceptor_launch,
bag_play,
rviz2_node,
]
)
isaac_orbbec_launch/param/perceptor_odom.rviz
+628
View File
@@ -0,0 +1,628 @@
Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Nvblox1
- /Stereo Cameras1
- /Stereo Cameras1/Back Stereo Camera1
- /Depth Images1/Front Depth1/Topic1
- /Depth Images1/Left Depth1/Topic1
- /Depth Images1/Right Depth1/Topic1
- /Depth Images1/Back Depth1
- /Depth Images1/Back Depth1/Topic1
- /Navigation1
Splitter Ratio: 0.7601010203361511
Tree Height: 664
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Combined Esdf
Visualization Manager:
Class: ""
Displays:
- Class: rviz_default_plugins/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Class: rviz_default_plugins/Axes
Enabled: true
Length: 0.25
Name: Base Link
Radius: 0.05000000074505806
Reference Frame: base_link
Value: true
- Alpha: 0.25
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 0; 0; 0
Enabled: false
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: false
- Class: rviz_common/Group
Displays:
- Ceiling Height: 1.5
Class: nvblox_rviz_plugin/NvbloxVoxelBlockLayer
Cut Ceiling: false
Enabled: true
Name: Nvblox Voxels
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nvblox_node/color_layer
Value: true
- Ceiling Height: 1.5
Class: nvblox_rviz_plugin/NvbloxVoxelBlockLayer
Cut Ceiling: false
Enabled: true
Name: Dynamic Voxels
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nvblox_node/dynamic_occupancy_layer
Value: true
- Class: nvblox_rviz_plugin/NvbloxMesh
Enabled: false
Name: Nvblox Mesh
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nvblox_node/mesh
Value: false
- Class: rviz_default_plugins/Marker
Enabled: false
Name: ESDF Slice Bounds
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nvblox_node/esdf_slice_bounds
Value: false
- Class: rviz_default_plugins/Marker
Enabled: false
Name: Workspace Bounds
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nvblox_node/workspace_bounds
Value: false
- Alpha: 1
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1
Min Color: 0; 0; 0
Min Intensity: 0
Name: Static Esdf
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Tiles
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nvblox_node/static_esdf_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1
Min Color: 0; 0; 0
Min Intensity: 0
Name: Human Esdf
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Tiles
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nvblox_node/dynamic_esdf_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1
Min Color: 0; 0; 0
Min Intensity: 0
Name: Combined Esdf
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Tiles
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nvblox_node/combined_esdf_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Nvblox
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Front Stereo Camera
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /front_camera/left_ir/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Left Stereo Camera
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /left_camera/left_ir/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Right Stereo Camera
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /right_camera/left_ir/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Back Stereo Camera
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /rear_camera/left_ir/image_raw
Value: true
Enabled: true
Name: Stereo Cameras
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 8
Median window: 5
Min Value: 0
Name: Front Depth
Normalize Range: false
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /front_camera/depth/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 8
Median window: 5
Min Value: 0
Name: Left Depth
Normalize Range: false
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /left_camera/depth/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 8
Median window: 5
Min Value: 0
Name: Right Depth
Normalize Range: false
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /right_camera/depth/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 8
Median window: 5
Min Value: 0
Name: Back Depth
Normalize Range: false
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /rear_camera/depth/image_raw
Value: true
Enabled: true
Name: Depth Images
- Class: rviz_common/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.05000000074505806
Name: Path
Offset:
X: 0
Y: 0
Z: 0.20000000298023224
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /unsmoothed_plan
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Local Costmap
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap_updates
Use Timestamp: false
Value: false
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Global Costmap
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: false
Enabled: true
Name: Navigation
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Map
Topic:
Depth: 5
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Use Timestamp: false
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /visual_slam/tracking/odometry
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 120; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 3
Line Style: Billboards
Line Width: 0.10000000149011612
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.10000000149011612
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /visual_slam/tracking/slam_path
Value: true
Enabled: true
Global Options:
Background Color: 190; 190; 190
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/ThirdPersonFollower
Distance: 25.242799758911133
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -2
Y: -0.75
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.509796380996704
Target Frame: base_link
Value: ThirdPersonFollower (rviz_default_plugins)
Yaw: 3.149994373321533
Saved: ~
Window Geometry:
Back Depth:
collapsed: false
Back Stereo Camera:
collapsed: false
Displays:
collapsed: false
Front Depth:
collapsed: false
Front Stereo Camera:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
Left Depth:
collapsed: false
Left Stereo Camera:
collapsed: false
QMainWindow State: 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
Right Depth:
collapsed: false
Right Stereo Camera:
collapsed: false
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1850
X: 70
Y: 27