switch to realsense due to problems with depthai_ros

README.md

@@ -19,3 +19,59 @@ catkin build
 ```
 
 Create an .env file based on .env.example adding the passwords needed.
+
+## Launch
+
+The entry point is:
+
+```sh
+roslaunch biodigitalmatter_ros bringup.launch
+```
+
+### Arguments
+
+#### Switches
+
+There are a few different arguments that turn on and off features. They are by
+default set to false.
+
+- `no_robots`: Don't start nodes relating to robot control that need a robot connected.
+- `no_rrc`: Don't start compas_rrc_driver
+- `no_rws`: Don't start rws related nodes, e.g. `rws_state_publisher`
+- `no_rgb`: Don't start network camera nodes for RGB (normal) cameras that need
+  cameras connected.
+- `no_rgbd`: Don't start depth camera nodes that need cameras connected.
+- `no_record`: Don't record all topics to file.
+
+Example:
+
+```sh
+roslaunch biodigitalmatter_ros bringup.launch no_robots:=true no_record:=true
+```
+
+#### Robot settings
+
+The relevant ones are:
+
+- `robot_ip`:
+- `robot_model`:
+
+#### RGB camera settings
+
+The relevant ones are
+
+- `rgb_ip`
+- `rgb_name`
+- `rgb_user`
+- `rgb_pw`
+
+#### RGBD camera settings
+
+The relevant ones are
+
+- `rgbd_camera`: Currently `D435i` for RealSense camera or `OAK-D-POE` for
+  Luxonis camera. Defaults to `OAK-D-POE`.
+
+```sh
+roslaunch biodigitalmatter_ros bringup.launch rgbd_camera:=D435i
+```

dependencies.repos

@@ -13,6 +13,10 @@ repositories:
     type: git
     url: https://github.com/gramaziokohler/abb_irb4600_40_255_moveit_config.git
     version: noetic-devel
+  abb_robot_driver:
+    type: git
+    url: https://github.com/ros-industrial/abb_robot_driver.git
+    version: master
   compas_rrc_driver:
     type: git
     url: https://github.com/compas-rrc/compas_rrc_ros.git
@@ -29,7 +33,7 @@ repositories:
     type: git
     url: https://github.com/lucasw/camera_info_manager_py.git
     version: noetic-devel
-  abb_robot_driver:
-    type: git
-    url: https://github.com/ros-industrial/abb_robot_driver.git
-    version: master
+#  depthai-ros:
+#    type: git
+#    url: https://github.com/luxonis/depthai-ros.git
+#    version: v2.6.1-noetic

launch/bringup/rgbd.launch

@@ -22,8 +22,8 @@
 
     <include file="$(find realsense2_camera)/launch/rs_rgbd.launch"
         if="$(eval rgbd_camera == 'D435i')">
-        <!-- <arg name="tf_prefix" value="rgbd_rs_camera" /> -->
-        <!-- <arg name="align_depth" value="true" /> -->
+        <arg name="tf_prefix" value="rgbd_rs_camera" />
+        <arg name="align_depth" value="true" />
     </include>
 
 </launch>

launch/bringup/robots.launch

@@ -25,7 +25,9 @@
             <arg name="robot_ip" value="$(arg robot_ip)" />
         </include>
 
-        <node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub">
+        <node pkg="robot_state_publisher" type="robot_state_publisher"
+        name="rob_st_pub"
+            unless="$(arg no_rws)">
             <remap from="joint_states" to="/rws/joint_states" />
         </node>
 

package.xml

@@ -18,8 +18,8 @@
   <exec_depend>compas_rrc_driver</exec_depend>
   <exec_depend>abb_irb4600_40_255_moveit_config</exec_depend>
   <exec_depend>file_server</exec_depend>
-  <exec_depend>depthai</exec_depend> <!-- luxonis -->
-  <exec_depend>depthai-ros</exec_depend> <!-- luxonis -->
+  <!-- exec_depend>depthai</exec_depend -->
+  <!-- exec_depend>depthai-ros</exec_depend --> 
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>rgbd_launch</exec_depend> <!-- dep realsense2 -->
   <exec_depend>axis_camera</exec_depend>