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Add optical frame publisher #413

Merged
merged 11 commits into from
May 14, 2020
Merged

Add optical frame publisher #413

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5e65797
check topic heartbeat and log /X*/pose topics
iche033 Apr 14, 2020
4c4c22c
use pose_v and subt to pose_static
iche033 Apr 17, 2020
7c764dd
cleanup
iche033 Apr 17, 2020
8db2b42
Rename parameters
Apr 17, 2020
aa3b61b
Merge pull request #403 from osrf/log_heartbeat_pose_suggestions
iche033 Apr 17, 2020
296de9e
move heartbeat check into its own thread
iche033 Apr 17, 2020
432f41e
add optical frame publisher and update vehicle topics
iche033 May 7, 2020
06b71f9
fix rotation
iche033 May 7, 2020
e23bb64
update optical frame publisher args
iche033 May 8, 2020
e708480
lazy subscription
iche033 May 12, 2020
f7be5ed
Merge branch 'master' into optical_frame
iche033 May 14, 2020
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20 changes: 20 additions & 0 deletions submitted_models/costar_husky_sensor_config_1/launch/vehicle_topics.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,17 @@
args="$(arg sensor_prefix)/camera_front/image">
<remap from="$(arg sensor_prefix)/camera_front/image" to="front/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher">
<remap from="input/image" to="front/image_raw" />
<remap from="output/image" to="front/optical/image_raw" />
<remap from="input/camera_info" to="front/camera_info" />
<remap from="output/camera_info" to="front/optical/camera_info" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -80,6 +91,15 @@
<remap from="$(arg sensor_prefix)/camera_front/depth_image" to="front/depth"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth"
args="depth">
<remap from="input/image" to="front/depth" />
<remap from="output/image" to="front/optical/depth" />
</node>

<!--Front Laser-->
<node
pkg="ros_ign_bridge"
Expand Down
84 changes: 84 additions & 0 deletions submitted_models/explorer_x1_sensor_config_1/launch/vehicle_topics.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,17 @@
args="$(arg sensor_prefix)/front_realsense/image">
<remap from="$(arg sensor_prefix)/front_realsense/image" to="image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher">
<remap from="input/image" to="image_raw" />
<remap from="output/image" to="optical/image_raw" />
<remap from="input/camera_info" to="camera_info" />
<remap from="output/camera_info" to="optical/camera_info" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -79,6 +90,16 @@
args="$(arg sensor_prefix)/front_realsense/depth_image">
<remap from="$(arg sensor_prefix)/front_realsense/depth_image" to="depth/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth"
args="depth">
<remap from="input/image" to="depth/image_raw" />
<remap from="output/image" to="depth/optical/image_raw" />
</node>

</group>

<!--Left RGBD camera -->
Expand All @@ -97,6 +118,17 @@
args="$(arg sensor_prefix)/left_realsense/image">
<remap from="$(arg sensor_prefix)/left_realsense/image" to="image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher">
<remap from="input/image" to="image_raw" />
<remap from="output/image" to="optical/image_raw" />
<remap from="input/camera_info" to="camera_info" />
<remap from="output/camera_info" to="optical/camera_info" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -111,6 +143,16 @@
args="$(arg sensor_prefix)/left_realsense/depth_image">
<remap from="$(arg sensor_prefix)/left_realsense/depth_image" to="depth/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth"
args="depth">
<remap from="input/image" to="depth/image_raw" />
<remap from="output/image" to="depth/optical/image_raw" />
</node>

</group>

<!--Rear RGBD camera -->
Expand All @@ -129,6 +171,17 @@
args="$(arg sensor_prefix)/rear_realsense/image">
<remap from="$(arg sensor_prefix)/rear_realsense/image" to="image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher">
<remap from="input/image" to="image_raw" />
<remap from="output/image" to="optical/image_raw" />
<remap from="input/camera_info" to="camera_info" />
<remap from="output/camera_info" to="optical/camera_info" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -143,6 +196,16 @@
args="$(arg sensor_prefix)/rear_realsense/depth_image">
<remap from="$(arg sensor_prefix)/rear_realsense/depth_image" to="depth/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth"
args="depth">
<remap from="input/image" to="depth/image_raw" />
<remap from="output/image" to="depth/optical/image_raw" />
</node>

</group>

<!--Right RGBD camera -->
Expand All @@ -161,6 +224,17 @@
args="$(arg sensor_prefix)/right_realsense/image">
<remap from="$(arg sensor_prefix)/right_realsense/image" to="image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher">
<remap from="input/image" to="image_raw" />
<remap from="output/image" to="optical/image_raw" />
<remap from="input/camera_info" to="camera_info" />
<remap from="output/camera_info" to="optical/camera_info" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -175,6 +249,16 @@
args="$(arg sensor_prefix)/right_realsense/depth_image">
<remap from="$(arg sensor_prefix)/right_realsense/depth_image" to="depth/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth"
args="depth">
<remap from="input/image" to="depth/image_raw" />
<remap from="output/image" to="depth/optical/image_raw" />
</node>

</group>

<!--Front Laser-->
Expand Down
22 changes: 21 additions & 1 deletion submitted_models/robotika_x2_sensor_config_1/launch/vehicle_topics.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,17 @@
args="$(arg sensor_prefix)/camera_front/image">
<remap from="$(arg sensor_prefix)/camera_front/image" to="image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher">
<remap from="input/image" to="image_raw" />
<remap from="output/image" to="optical/image_raw" />
<remap from="input/camera_info" to="camera_info" />
<remap from="output/camera_info" to="optical/camera_info" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -91,7 +102,16 @@
args="$(arg sensor_prefix)/camera_front/depth_image">
<remap from="$(arg sensor_prefix)/camera_front/depth_image" to="front/depth"/>
</node>


<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth"
args="depth">
<remap from="input/image" to="front/depth" />
<remap from="output/image" to="front/optical/depth" />
</node>

<!-- Gas sensor -->
<node
pkg="ros_ign_bridge"
Expand Down
19 changes: 18 additions & 1 deletion submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/vehicle_topics.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,8 +71,25 @@
<remap from="$(arg sensor_prefix)/camera_front_left/image" to="front/left/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_stereo_right">
<remap from="input/image" to="front/right/image_raw" />
<remap from="output/image" to="front/right/optical/image_raw" />
<remap from="input/camera_info" to="front/right/camera_info" />
<remap from="output/camera_info" to="front/right/optical/camera_info" />
</node>


<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_stereo_left">
<remap from="input/image" to="front/left/image_raw" />
<remap from="output/image" to="front/left/optical/image_raw" />
<remap from="input/camera_info" to="front/left/camera_info" />
<remap from="output/camera_info" to="front/left/optical/camera_info" />
</node>


<!-- UGV -->
Expand Down
19 changes: 18 additions & 1 deletion submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/vehicle_topics.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,25 @@
<remap from="$(arg sensor_prefix)/camera_front_left/image" to="front/left/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_stereo_right">
<remap from="input/image" to="front/right/image_raw" />
<remap from="output/image" to="front/right/optical/image_raw" />
<remap from="input/camera_info" to="front/right/camera_info" />
<remap from="output/camera_info" to="front/right/optical/camera_info" />
</node>


<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_stereo_left">
<remap from="input/image" to="front/left/image_raw" />
<remap from="output/image" to="front/left/optical/image_raw" />
<remap from="input/camera_info" to="front/left/camera_info" />
<remap from="output/camera_info" to="front/left/optical/camera_info" />
</node>

<!-- UAV -->

Expand Down
83 changes: 83 additions & 0 deletions submitted_models/ssci_x2_sensor_config_1/launch/vehicle_topics.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,16 @@
args="$(arg sensor_prefix)/camera_front/depth_image">
<remap from="$(arg sensor_prefix)/camera_front/depth_image" to="front/depth"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth"
args="depth">
<remap from="input/image" to="front/depth" />
<remap from="output/image" to="front/optical/depth" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -84,6 +94,17 @@
args="$(arg sensor_prefix)/camera_front/image">
<remap from="$(arg sensor_prefix)/camera_front/image" to="front/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher">
<remap from="input/image" to="front/image_raw" />
<remap from="output/image" to="front/optical/image_raw" />
<remap from="input/camera_info" to="front/camera_info" />
<remap from="output/camera_info" to="front/optical/camera_info" />
</node>

</group>

<group if="$(arg rgbd_cam_up)">
Expand All @@ -101,6 +122,16 @@
args="$(arg sensor_prefix)/camera_up/depth_image">
<remap from="$(arg sensor_prefix)/camera_up/depth_image" to="up/depth"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth_up"
args="depth">
<remap from="input/image" to="up/depth" />
<remap from="output/image" to="up/optical/depth" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -115,6 +146,17 @@
args="$(arg sensor_prefix)/camera_up/image">
<remap from="$(arg sensor_prefix)/camera_up/image" to="up/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_up">
<remap from="input/image" to="up/image_raw" />
<remap from="output/image" to="up/optical/image_raw" />
<remap from="input/camera_info" to="up/camera_info" />
<remap from="output/camera_info" to="up/optical/camera_info" />
</node>

</group>

<group if="$(arg rgbd_cam_down)">
Expand All @@ -132,6 +174,16 @@
args="$(arg sensor_prefix)/camera_down/depth_image">
<remap from="$(arg sensor_prefix)/camera_down/depth_image" to="down/depth"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth_down"
args="depth">
<remap from="input/image" to="down/depth" />
<remap from="output/image" to="down/optical/depth" />
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand All @@ -146,6 +198,17 @@
args="$(arg sensor_prefix)/camera_down/image">
<remap from="$(arg sensor_prefix)/camera_down/image" to="down/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_down">
<remap from="input/image" to="down/image_raw" />
<remap from="output/image" to="down/optical/image_raw" />
<remap from="input/camera_info" to="down/camera_info" />
<remap from="output/camera_info" to="down/optical/camera_info" />
</node>

</group>

<!-- 3D lidar -->
Expand Down Expand Up @@ -179,6 +242,26 @@
<remap from="$(arg sensor_prefix)/camera_front_right/image" to="front/right/image_raw"/>
<remap from="$(arg sensor_prefix)/camera_front_left/image" to="front/left/image_raw"/>
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_stereo_right">
<remap from="input/image" to="front/right/image_raw" />
<remap from="output/image" to="front/right/optical/image_raw" />
<remap from="input/camera_info" to="front/right/camera_info" />
<remap from="output/camera_info" to="front/right/optical/camera_info" />
</node>

<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_stereo_left">
<remap from="input/image" to="front/left/image_raw" />
<remap from="output/image" to="front/left/optical/image_raw" />
<remap from="input/camera_info" to="front/left/camera_info" />
<remap from="output/camera_info" to="front/left/optical/camera_info" />
</node>
</group>

<!-- laser scan -->
Expand Down
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