run all nodes in launch.py

isaac_orbbec_launch/launch/base_static_transforms_publisher.py

@@ -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

@@ -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(
+    default_perceptor_config_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'orbbec_perceptor_detached.yaml')
-        'perceptor_config_file', default_value='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

@@ -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
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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