[RIS] 12/5 (RealSense, TF)

https://github.com/IntelRealSense/realsense-ros/blob/ros1-legacy/README.md#installation-instructions

GitHub - IntelRealSense/realsense-ros: Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module

• Install realsense2 on Ubuntu 18.04 in Jetson Xavier

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md

GitHub - IntelRealSense/librealsense: Intel® RealSense™ SDK

• Install IntelRealSense SDK

 

 

 

$ roslaunch realsense2_camera demo_pointcloud.launch

 

 

$ roslaunch realsense2_camera rs_rgbd.launch

 

• Visualize PointCloud Value in Rviz

 

$ rostopic echo /camera/depth_registered/point

 

 

<?xml version="1.0"?>
<launch>
  <!-- iAHRS arguments -->
  <param name="m_bSingle_TF_option" type="bool" value="true" /> <!--false-->
  <node pkg="iahrs_driver" type="iahrs_driver" name="iahrs_driver" output="screen" />

  <!-- RPLidar arguments -->
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyUSB2"/>
  <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
  <!--param name="serial_baudrate"     type="int"    value="256000"--><!--A3 -->
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>

  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>
  <arg name="external_manager"    default="false"/>
  <arg name="manager"             default="realsense2_camera_manager"/>

  <!-- Camera device specific arguments -->

  <arg name="serial_no"           default=""/>
  <arg name="usb_port_id"         default=""/>
  <arg name="device_type"         default=""/>
  <arg name="json_file_path"      default=""/>

  <arg name="fisheye_width"       default="-1"/>
  <arg name="fisheye_height"      default="-1"/>
  <arg name="enable_fisheye"      default="false"/>

  <arg name="depth_width"         default="-1"/>
  <arg name="depth_height"        default="-1"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="infra_width"         default="-1"/>
  <arg name="infra_height"        default="-1"/>
  <arg name="enable_infra1"       default="false"/>
  <arg name="enable_infra2"       default="false"/>

  <arg name="color_width"         default="-1"/>
  <arg name="color_height"        default="-1"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="-1"/>
  <arg name="depth_fps"           default="-1"/>
  <arg name="infra_fps"           default="-1"/>
  <arg name="color_fps"           default="-1"/>
  <arg name="gyro_fps"            default="-1"/>
  <arg name="accel_fps"           default="-1"/>
  <arg name="enable_gyro"         default="false"/>
  <arg name="enable_accel"        default="false"/>

  <arg name="enable_pointcloud"   default="false"/>
  <arg name="enable_sync"         default="true"/>
  <arg name="align_depth"         default="true"/>
  <arg name="filters"             default=""/>

  <arg name="publish_tf"          default="true"/>
  <arg name="tf_publish_rate"     default="0"/> <!-- 0 - static transform -->

  <!-- rgbd_launch specific arguments -->

  <!-- Arguments for remapping all device namespaces -->
  <arg name="rgb"                             default="color" />
  <arg name="ir"                              default="infra1" />
  <arg name="depth"                           default="depth" />
  <arg name="depth_registered_pub"            default="depth_registered" />
  <arg name="depth_registered"                default="depth_registered" unless="$(arg align_depth)" />
  <arg name="depth_registered"                default="aligned_depth_to_color" if="$(arg align_depth)" />
  <arg name="depth_registered_filtered"       default="$(arg depth_registered)" />
  <arg name="projector"                       default="projector" />

  <!-- Disable bond topics by default -->
  <arg name="bond"                            default="false" />
  <arg name="respawn"                         default="$(arg bond)" />

  <!-- Processing Modules -->
  <arg name="rgb_processing"                  default="true"/>
  <arg name="debayer_processing"              default="false" />
  <arg name="ir_processing"                   default="false"/>
  <arg name="depth_processing"                default="false"/>
  <arg name="depth_registered_processing"     default="true"/>
  <arg name="disparity_processing"            default="false"/>
  <arg name="disparity_registered_processing" default="false"/>
  <arg name="hw_registered_processing"        default="$(arg align_depth)" />
  <arg name="sw_registered_processing"        default="true" unless="$(arg align_depth)" />
  <arg name="sw_registered_processing"        default="false" if="$(arg align_depth)" />

  <group ns="$(arg camera)">

    <!-- Launch the camera device nodelet-->
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="external_manager"         value="$(arg external_manager)"/>
      <arg name="manager"                  value="$(arg manager)"/>
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="usb_port_id"              value="$(arg usb_port_id)"/>
      <arg name="device_type"              value="$(arg device_type)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra_width"              value="$(arg infra_width)"/>
      <arg name="infra_height"             value="$(arg infra_height)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra_fps"                value="$(arg infra_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
      <arg name="enable_accel"             value="$(arg enable_accel)"/>
      <arg name="filters"                  value="$(arg filters)"/>

      <arg name="publish_tf"               value="$(arg publish_tf)"/>
      <arg name="tf_publish_rate"          value="$(arg tf_publish_rate)"/>
    </include>

    <!-- RGB processing -->
    <include if="$(arg rgb_processing)"
             file="$(find rgbd_launch)/launch/includes/rgb.launch.xml">
      <arg name="manager"                       value="$(arg manager)" />
      <arg name="respawn"                       value="$(arg respawn)" />
      <arg name="rgb"                           value="$(arg rgb)" />
      <arg name="debayer_processing"            value="$(arg debayer_processing)" />
    </include>

    <group if="$(eval depth_registered_processing and sw_registered_processing)">
      <node pkg="nodelet" type="nodelet" name="register_depth"
            args="load depth_image_proc/register $(arg manager) $(arg bond)" respawn="$(arg respawn)">
        <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
        <remap from="depth/camera_info"           to="$(arg depth)/camera_info" />
        <remap from="depth/image_rect"            to="$(arg depth)/image_rect_raw" />
        <remap from="depth_registered/image_rect" to="$(arg depth_registered)/sw_registered/image_rect_raw" />
      </node>

      <!-- Publish registered XYZRGB point cloud with software registered input -->
      <node pkg="nodelet" type="nodelet" name="points_xyzrgb_sw_registered"
            args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)" respawn="$(arg respawn)">
        <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color" />
        <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
        <remap from="depth_registered/image_rect" to="$(arg depth_registered_filtered)/sw_registered/image_rect_raw" />
        <remap from="depth_registered/points"     to="$(arg depth_registered)/points" />
      </node>
    </group>

    <group if="$(eval depth_registered_processing and hw_registered_processing)">
      <!-- Publish registered XYZRGB point cloud with hardware registered input (ROS Realsense depth alignment) -->
      <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered"
            args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)" respawn="$(arg respawn)">
        <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color" />
        <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
        <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw" />
        <remap from="depth_registered/points"     to="$(arg depth_registered_pub)/points" />
      </node>
    </group>

  </group>

</launch>

• Configuration of integrated launch file(launch_ris)
• Copied rs_rgbd.launch`s command

 

$ roslaunch launch_ris launch_ris

• launch integrated launch file

result of above command

• ttyUSB0 : IMU
• ttyUSB2 : RPLidar

 

To do : 

 

$ rosrun tf static_transform_publisher 0 0 0 0 0 0 1 imu_link camera_link 100

 

 

 

 

 

 

• tf를 묶어 여러 센서를 동시에 띄움