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Feature/upright camera view #30

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Feature/upright camera view #30

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7c16d12
Init commit of worlds folder. Random_objects world file was added to …
alan-sanchez Jun 30, 2021
2092b07
Init commit of worlds folder. Random_objects world file was added to …
alan-sanchez Jun 30, 2021
1d5323d
Included image_topic argument to the launch files
alan-sanchez Jul 1, 2021
1dc40cb
Removed ros_rtsp package
alan-sanchez Jul 1, 2021
11afe19
Init commit of dependencies folder, 'deps'. Included image_pipelin pa…
alan-sanchez Jul 1, 2021
6338c6b
removed image_pipelin package
alan-sanchez Jul 2, 2021
92006a9
Init commit of dependencies folder, deps. Included image_pipelin pack…
alan-sanchez Jul 2, 2021
af3553b
Init commit of .gitmodules file
alan-sanchez Jul 2, 2021
89b6f37
removed image_pipelin package
alan-sanchez Jul 2, 2021
8a06b2e
Init commit of dependencies folder, deps. Included image_pipelin pack…
alan-sanchez Jul 2, 2021
0e7058f
Removed deps folder
alan-sanchez Jul 2, 2021
b0aad21
Init commit of dependencies folder, deps. Included image_pipelin pack…
alan-sanchez Jul 2, 2021
602ab8e
modified .gitmodules file.
alan-sanchez Jul 2, 2021
503f7cb
Added comment about upright_camera_view.launch file
hello-sanchez Jul 2, 2021
02a2398
Separated gazebo world and launch files to other branch.
hello-sanchez Jul 2, 2021
6c16f32
Inserted upright_camera_view.launch file into the gazebo.launch file.
hello-sanchez Jul 2, 2021
8049b3b
Included image_topic argument in launch file. Users have the option t…
hello-sanchez Jul 2, 2021
6ac8883
Changed default image_topic from realsense to camera.
hello-sanchez Jul 8, 2021
de0b0a8
Included the param that defines the camera_link as the reference fram…
hello-sanchez Jul 21, 2021
5015239
Moved launch and dependency package to stretch_core. Also removed the…
hello-sanchez Jul 23, 2021
020f773
Added the image_pipeline submodule to Stretch_core.
hello-sanchez Jul 23, 2021
c3ee014
Removed the image_pipelines package from the submodules file.
hello-sanchez Sep 13, 2021
afd4067
Included param arguments into image_rotate node.
hello-sanchez Sep 13, 2021
19f4054
Included upright_camera_view.launch file.
hello-sanchez Sep 21, 2021
2a79cb6
Updated comments in launch file.
hello-sanchez Sep 21, 2021
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1 change: 1 addition & 0 deletions stretch_core/deps/image_pipeline
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Submodule image_pipeline added at 71d537
15 changes: 11 additions & 4 deletions stretch_core/launch/stretch_driver.launch
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Original file line number Diff line number Diff line change
@@ -1,8 +1,10 @@
<launch>

<param name="robot_description" textfile="$(find stretch_description)/urdf/stretch.urdf" />
<arg name="calibrated_controller_yaml_file" value="$(find stretch_core)/config/controller_calibration_head.yaml"/>

<arg name="upright_camera" default="true"/>
<arg name="image_topic" default="/camera/color/image_raw"/>

<node
name="joint_state_publisher"
pkg="joint_state_publisher"
Expand All @@ -25,7 +27,7 @@
</rosparam>
</node>
-->

<node
name="robot_state_publisher"
pkg="robot_state_publisher"
Expand All @@ -40,5 +42,10 @@
<remap from="joint_states" to="/stretch/joint_states" />
<param name="controller_calibration_file" type="string" value="$(arg calibrated_controller_yaml_file)"/>
</node>


<!--- Run upright_camera_view.launch file -->
<include file="$(find stretch_core)/launch/upright_camera_view.launch" if="$(arg upright_camera)">
<arg name="image_topic" value="$(arg image_topic)"/>
</include>

</launch>
17 changes: 17 additions & 0 deletions stretch_core/launch/upright_camera_view.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<launch>
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<!--- Argument for the image_topic, target_frame_id, and target_z.
In this instance it is the Stretch's realsense camera-->
<arg name="image_topic" default="/camera/color/image_raw"/>
<arg name="target_frame_id" default="camera_link"/>
<arg name="target_z" default="-1.0"/>

<!--- Run image_rotate package and set the desired image_topic to rotate.
The orientation parameters are set to the default values-->
<node name="image_rotate" pkg="image_rotate" type="image_rotate">
<remap from="image" to="$(arg image_topic)" />
<remap from="rotated/image" to="$(arg image_topic)_upright_view"/>
<param name="target_frame_id" type="str" value="$(arg target_frame_id)"/>
<param name="target_z" type="double" value="$(arg target_z)" />
</node>

</launch>
9 changes: 8 additions & 1 deletion stretch_gazebo/launch/gazebo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
<arg name="debug" default="false"/>
<arg name="rviz" default="false"/>
<arg name="model" default="$(find stretch_gazebo)/urdf/stretch_gazebo.urdf.xacro"/>
<arg name="upright_camera" default="true"/>
<arg name="image_topic" default="/camera/color/image_raw"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
Expand All @@ -29,8 +31,13 @@

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/>

<!--- Run upright_camera_view.launch file -->
<include file="$(find stretch_core)/launch/upright_camera_view.launch" if="$(arg upright_camera)">
<arg name="image_topic" value="$(arg image_topic)"/>
</include>

<rosparam command="load"
file="$(find stretch_gazebo)/config/joints.yaml"
file="$(find stretch_gazebo)/config/joints.yaml"
ns="stretch_joint_state_controller" />

<rosparam command="load"
Expand Down