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Support on-camera apriltag detections #46

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Support on-camera apriltag detections #46

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3b92132
Update README with more detailed documentation links (#45)
mattalvarado Jun 15, 2022
8ccbb7c
Add apriltag messages and publisher
davidirobinson Jun 17, 2022
5b456b4
Send row-major homography matrix
davidirobinson Jun 17, 2022
3f75d77
Remove extraneous prints
davidirobinson Jun 17, 2022
738e667
Simplfy ros timestamp conversion
davidirobinson Jun 17, 2022
5e94306
Add support for apriltag params
davidirobinson Jun 21, 2022
b283515
Handle hamming distance param
davidirobinson Jun 22, 2022
054fb8e
Properly handle the full translation between left/aux rectified image…
mattalvarado Jun 22, 2022
f40dbbe
Only advertise topics that are available
davidirobinson Jun 22, 2022
1ee0621
Add image source to tag detections
davidirobinson Jun 24, 2022
e77adfe
Remove comment from apriltag params
davidirobinson Jun 28, 2022
f496ba8
Update libmultisense to master
davidirobinson Jun 28, 2022
cbd644a
Merge branch 'master' into support-apriltags
davidirobinson Jun 29, 2022
3e7557e
Merge with remote head changes
davidirobinson Jun 29, 2022
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14 changes: 12 additions & 2 deletions README.md
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@@ -1,9 +1,19 @@
# multisense_ros

Wrappers, drivers, tools and additional API's for using MultiSense SL, S7, S7S, S21, M, ST21, and BCAM with ROS.
Wrappers, drivers, tools and additional API's for using MultiSense S27, S30, KS21, SL, S7, S7S, S21, M, ST21, BCAM with ROS.

### Installation, Documentation and Tutorials
[Installing multisense_ros](http://docs.carnegierobotics.com/SL/install.html#install)

See the following for documentation on on installing and using multisense_ros for specific camera types.

- [S27](https://docs.carnegierobotics.com/S27/index.html)
- [S30](https://docs.carnegierobotics.com/S30/index.html)
- [KS21](https://docs.carnegierobotics.com/KS21/index.html)
- [S21](https://docs.carnegierobotics.com/S21/index.html)
- [S7/S7S](https://docs.carnegierobotics.com/S7/index.html)
- [SL](https://docs.carnegierobotics.com/SL/index.html)

Please see the following link for detailed documentation on the [LibMultiSense API](https://docs.carnegierobotics.com/libmultisense/index.html) wrapped by the ROS driver.

### Develop and Contribute

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1 change: 1 addition & 0 deletions multisense_bringup/CMakeLists.txt
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Expand Up @@ -18,6 +18,7 @@ include_directories(include ${catkin_INCLUDE_DIRS})
install(FILES
rviz_config.rviz
multisense.launch
remote_head.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

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5 changes: 4 additions & 1 deletion multisense_bringup/multisense.launch
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<launch>

<!-- Valid Sensor types are SL, S7, S7S, S21, S27, and BCAM -->
<!-- Valid Sensor types are SL, S7, S7S, S21, S27, BCAM,
remote_head_vpb, remote_head_stereo, remote_head_monocam -->

<arg name="ip_address" default="10.66.171.21" />
<arg name="namespace" default="multisense" />
<arg name="mtu" default="7200" />
<arg name="sensor" default="S21" />
<arg name="head_id" default="-1" />
<arg name="launch_robot_state_publisher" default="true" />
<arg name="launch_color_laser_publisher" default="false" />
<arg name="nodes_prefix" default="$(arg namespace)" />
Expand All @@ -26,6 +28,7 @@
<param name="sensor_ip" value="$(arg ip_address)" />
<param name="sensor_mtu" value="$(arg mtu)" />
<param name="tf_prefix" value="$(arg tf_prefix)" />
<param name="head_id" value="$(arg head_id)" />
</node>

<!-- Color Laser PointCloud Publisher -->
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158 changes: 158 additions & 0 deletions multisense_bringup/remote_head.launch
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<launch>

<arg name="ip_address" default="10.66.171.21" />
<arg name="mtu" default="7200" />

<arg name="launch_vpb" default="true" />
<arg name="launch_head0" default="true" />
<arg name="launch_head1" default="true" />
<arg name="launch_head2" default="true" />
<arg name="launch_head3" default="true" />

<arg name="vpb_namespace" default="multisense_vpb" />
<arg name="head0_namespace" default="remote_head_0" />
<arg name="head1_namespace" default="remote_head_1" />
<arg name="head2_namespace" default="remote_head_2" />
<arg name="head3_namespace" default="remote_head_3" />

<!-- Valid Sensor types for remote heads are remote_head_vpb, remote_head_stereo, remote_head_monocam -->
<arg name="vpb_sensor" default="remote_head_vpb" />
<arg name="head0_sensor" default="remote_head_stereo" />
<arg name="head1_sensor" default="remote_head_stereo" />
<arg name="head2_sensor" default="remote_head_stereo" />
<arg name="head3_sensor" default="remote_head_stereo" />

<arg name="vpb_nodes_prefix" default="$(arg vpb_namespace)" />
<arg name="head0_nodes_prefix" default="$(arg head0_namespace)" />
<arg name="head1_nodes_prefix" default="$(arg head1_namespace)" />
<arg name="head2_nodes_prefix" default="$(arg head2_namespace)" />
<arg name="head3_nodes_prefix" default="$(arg head3_namespace)" />

<arg name="vpb_tf_prefix" default="$(arg vpb_namespace)" />
<arg name="head0_tf_prefix" default="$(arg head0_namespace)" />
<arg name="head1_tf_prefix" default="$(arg head1_namespace)" />
<arg name="head2_tf_prefix" default="$(arg head2_namespace)" />
<arg name="head3_tf_prefix" default="$(arg head3_namespace)" />

<arg name="launch_robot_state_publisher" default="true" />

<!-- Remote Head VPB Launch-->
<group if = "$(arg launch_vpb)">

<!-- ROS Driver -->
<node pkg="multisense_ros" ns="$(arg vpb_namespace)" type="ros_driver" name="$(arg vpb_nodes_prefix)_driver" output="screen">
<param name="sensor_ip" value="$(arg ip_address)" />
<param name="sensor_mtu" value="$(arg mtu)" />
<param name="tf_prefix" value="$(arg vpb_tf_prefix)" />
<param name="head_id" value="-1" />
</node>

<!-- Robot state publisher -->
<group if = "$(arg launch_robot_state_publisher)">
<param name="robot_description"
command="$(find xacro)/xacro '$(find multisense_description)/urdf/multisense$(arg vpb_sensor)/standalone.urdf.xacro' name:=$(arg vpb_namespace)"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="$(arg vpb_nodes_prefix)_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<remap from="joint_states" to="/$(arg vpb_namespace)/joint_states" />
</node>
</group>

</group>


<!-- Remote Head 0 Launch -->
<group if = "$(arg launch_head0)">

<!-- ROS Driver -->
<node pkg="multisense_ros" ns="$(arg head0_namespace)" type="ros_driver" name="$(arg head0_nodes_prefix)_driver" output="screen">
<param name="sensor_ip" value="$(arg ip_address)" />
<param name="sensor_mtu" value="$(arg mtu)" />
<param name="tf_prefix" value="$(arg head0_tf_prefix)" />
<param name="head_id" value="0" />
</node>

<!-- Robot state publisher -->
<group if = "$(arg launch_robot_state_publisher)">
<param name="robot_description"
command="$(find xacro)/xacro '$(find multisense_description)/urdf/multisense$(arg head0_sensor)/standalone.urdf.xacro' name:=$(arg head0_namespace)"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="$(arg head0_nodes_prefix)_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<remap from="joint_states" to="/$(arg head0_namespace)/joint_states" />
</node>
</group>

</group>


<!-- Remote Head 1 Launch -->
<group if = "$(arg launch_head1)">

<!-- ROS Driver -->
<node pkg="multisense_ros" ns="$(arg head1_namespace)" type="ros_driver" name="$(arg head1_nodes_prefix)_driver" output="screen">
<param name="sensor_ip" value="$(arg ip_address)" />
<param name="sensor_mtu" value="$(arg mtu)" />
<param name="tf_prefix" value="$(arg head1_tf_prefix)" />
<param name="head_id" value="1" />
</node>

<!-- Robot state publisher -->
<group if = "$(arg launch_robot_state_publisher)">
<param name="robot_description"
command="$(find xacro)/xacro '$(find multisense_description)/urdf/multisense$(arg head1_sensor)/standalone.urdf.xacro' name:=$(arg head1_namespace)"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="$(arg head1_nodes_prefix)_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<remap from="joint_states" to="/$(arg head1_namespace)/joint_states" />
</node>
</group>

</group>


<!-- Remote Head 2 Launch -->
<group if = "$(arg launch_head2)">

<!-- ROS Driver -->
<node pkg="multisense_ros" ns="$(arg head2_namespace)" type="ros_driver" name="$(arg head2_nodes_prefix)_driver" output="screen">
<param name="sensor_ip" value="$(arg ip_address)" />
<param name="sensor_mtu" value="$(arg mtu)" />
<param name="tf_prefix" value="$(arg head2_tf_prefix)" />
<param name="head_id" value="2" />
</node>

<!-- Robot state publisher -->
<group if = "$(arg launch_robot_state_publisher)">
<param name="robot_description"
command="$(find xacro)/xacro '$(find multisense_description)/urdf/multisense$(arg head2_sensor)/standalone.urdf.xacro' name:=$(arg head2_namespace)"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="$(arg head2_nodes_prefix)_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<remap from="joint_states" to="/$(arg head2_namespace)/joint_states" />
</node>
</group>

</group>


<!-- Remote Head 3 Launch -->
<group if = "$(arg launch_head3)">

<!-- ROS Driver -->
<node pkg="multisense_ros" ns="$(arg head3_namespace)" type="ros_driver" name="$(arg head3_nodes_prefix)_driver" output="screen">
<param name="sensor_ip" value="$(arg ip_address)" />
<param name="sensor_mtu" value="$(arg mtu)" />
<param name="tf_prefix" value="$(arg head3_tf_prefix)" />
<param name="head_id" value="3" />
</node>

<!-- Robot state publisher -->
<group if = "$(arg launch_robot_state_publisher)">
<param name="robot_description"
command="$(find xacro)/xacro '$(find multisense_description)/urdf/multisense$(arg head3_sensor)/standalone.urdf.xacro' name:=$(arg head3_namespace)"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="$(arg head3_nodes_prefix)_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<remap from="joint_states" to="/$(arg head3_namespace)/joint_states" />
</node>
</group>

</group>

</launch>
86 changes: 86 additions & 0 deletions multisense_description/meshes/multisense_remote_head_monocam.STL
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86 changes: 86 additions & 0 deletions multisense_description/meshes/multisense_remote_head_stereo.STL
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