diff --git a/README.en.md b/README.en.md index 9de36be7..e2f3758a 100644 --- a/README.en.md +++ b/README.en.md @@ -109,7 +109,7 @@ Please refer to [./sciurus17_examples/README.md](./sciurus17_examples/README.md) - This package includes option tools for Sciurus17. - sciurus17_vision - This package includes launch files for camera nodes. - - This package does not support ROS 2 yet. + - [chest_camera_info.yaml](./sciurus17_vision/config/chest_camera_info.yaml) is the chest camera calibration parameter. - sciurus17_description (external package) - [README](https://github.com/rt-net/sciurus17_description/blob/ros2/README.en.md) - This package includes a model data (xacro) of Sciurus17. diff --git a/README.md b/README.md index 6806258d..2e826f81 100644 --- a/README.md +++ b/README.md @@ -109,7 +109,7 @@ ros2 launch sciurus17_examples example.launch.py example:='gripper_control' - Sciurus17を活用するためのオプションツールをまとめたパッケージです - sciurus17_vision - カメラのlaunchファイルや画像認識を行うノードを定義するパッケージです - - ※現在ROS 2未対応のため使用できません。随時対応してまいります。 + - 胸部カメラのキャリブレーションパラメータファイルは[chest_camera_info.yaml](./sciurus17_vision/config/chest_camera_info.yaml)です - sciurus17_description (外部パッケージ) - [README](https://github.com/rt-net/sciurus17_description/blob/ros2/README.md) - Sciurus17のモデルデータ（xacro）を定義するパッケージです diff --git a/sciurus17_examples/launch/demo.launch.py b/sciurus17_examples/launch/demo.launch.py index 80ff6a45..ee446efe 100644 --- a/sciurus17_examples/launch/demo.launch.py +++ b/sciurus17_examples/launch/demo.launch.py @@ -19,6 +19,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription +from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration @@ -36,6 +37,18 @@ def generate_launch_description(): description='Set baudrate.' ) + declare_use_head_camera = DeclareLaunchArgument( + 'use_head_camera', + default_value='true', + description='Use head camera.' + ) + + declare_use_chest_camera = DeclareLaunchArgument( + 'use_chest_camera', + default_value='true', + description='Use chest camera.' + ) + config_file_path = os.path.join( get_package_share_directory('sciurus17_control'), 'config', @@ -66,9 +79,27 @@ def generate_launch_description(): launch_arguments={'loaded_description': description}.items() ) + head_camera_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + get_package_share_directory('sciurus17_vision'), + '/launch/head_camera.launch.py']), + condition=IfCondition(LaunchConfiguration('use_head_camera')), + ) + + chest_camera_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + get_package_share_directory('sciurus17_vision'), + '/launch/chest_camera.launch.py']), + condition=IfCondition(LaunchConfiguration('use_chest_camera')), + ) + return LaunchDescription([ declare_port_name, declare_baudrate, + declare_use_head_camera, + declare_use_chest_camera, move_group, - control_node + control_node, + head_camera_node, + chest_camera_node ]) diff --git a/sciurus17_moveit_config/config/moveit.rviz b/sciurus17_moveit_config/config/moveit.rviz index 79999178..7e52a934 100644 --- a/sciurus17_moveit_config/config/moveit.rviz +++ b/sciurus17_moveit_config/config/moveit.rviz @@ -79,7 +79,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true dummy_mimic_fix_l: Alpha: 1 Show Axes: false @@ -88,19 +87,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - head_camera_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - head_camera_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false head_camera_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true l_gripperA_link: Alpha: 1 Show Axes: false @@ -275,7 +265,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true dummy_mimic_fix_l: Alpha: 1 Show Axes: false @@ -284,19 +273,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - head_camera_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - head_camera_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false head_camera_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true l_gripperA_link: Alpha: 1 Show Axes: false @@ -438,14 +418,14 @@ Visualization Manager: Position Transformer: XYZ Selectable: true Size (Pixels): 3 - Size (m): 0.0010000000474974513 + Size (m): 0.009999999776482582 Style: Flat Squares Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /head_camera/depth/color/points Use Fixed Frame: true Use rainbow: true @@ -520,5 +500,5 @@ Window Geometry: Views: collapsed: true Width: 1200 - X: 170 - Y: 27 + X: 156 + Y: 29 diff --git a/sciurus17_tools/scripts/get_chest_camera_product_id b/sciurus17_tools/scripts/get_chest_camera_product_id deleted file mode 100755 index b58ee1ef..00000000 --- a/sciurus17_tools/scripts/get_chest_camera_product_id +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env bash - -# Example return value: 0x708c -udevadm info -q property -n /dev/chestcamera | grep ID_MODEL_ID | sed -e"s/ID_MODEL_ID=/0x/" diff --git a/sciurus17_tools/scripts/get_chest_camera_vendor_id b/sciurus17_tools/scripts/get_chest_camera_vendor_id deleted file mode 100755 index 7198e9a0..00000000 --- a/sciurus17_tools/scripts/get_chest_camera_vendor_id +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env bash - -# Example return value: 0x0458 -udevadm info -q property -n /dev/chestcamera | grep ID_VENDOR_ID | sed -e"s/ID_VENDOR_ID=/0x/" diff --git a/sciurus17_vision/CMakeLists.txt b/sciurus17_vision/CMakeLists.txt index 693f610f..9a22f6cd 100644 --- a/sciurus17_vision/CMakeLists.txt +++ b/sciurus17_vision/CMakeLists.txt @@ -1,35 +1,21 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(sciurus17_vision) -add_compile_options(-std=c++11) +find_package(ament_cmake REQUIRED) -find_package(catkin REQUIRED COMPONENTS - cv_bridge - geometry_msgs - image_geometry - image_transport - pcl_ros - roscpp - rospy - sensor_msgs - std_msgs - tf - tf2 - tf2_ros - sciurus17_msgs - dynamic_reconfigure -) - -catkin_package( +install(DIRECTORY + config + launch + DESTINATION share/${PROJECT_NAME}/ ) include_directories( - include ${catkin_INCLUDE_DIRS} ) -set(MESSAGE_DEPENDS sciurus17_msgs_generate_messages) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) \ No newline at end of file +ament_package() \ No newline at end of file diff --git a/sciurus17_vision/COLCON_IGNORE b/sciurus17_vision/COLCON_IGNORE deleted file mode 100644 index e69de29b..00000000 diff --git a/sciurus17_vision/config/chest_camera_info.yaml b/sciurus17_vision/config/chest_camera_info.yaml new file mode 100644 index 00000000..0b0ba2f8 --- /dev/null +++ b/sciurus17_vision/config/chest_camera_info.yaml @@ -0,0 +1,26 @@ +image_width: 1280 +image_height: 720 +camera_name: chest_camera +camera_matrix: + rows: 3 + cols: 3 + data: [520.89227, -0.0822 , 628.05406, + 0. , 521.19138, 363.34233, + 0. , 0. , 1. ] +distortion_model: equidistant +distortion_coefficients: + rows: 1 + cols: 4 + data: [-0.221837, 1.448854, -1.560465, 0.357714] +rectification_matrix: + rows: 3 + cols: 3 + data: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] +projection_matrix: + rows: 3 + cols: 4 + data: [520.89227, -0.0822 , 628.05406, 0. , + 0. , 521.19138, 363.34233, 0. , + 0. , 0. , 1. , 0. ] diff --git a/sciurus17_vision/launch/chest_camera.launch b/sciurus17_vision/launch/chest_camera.launch deleted file mode 100644 index 82466406..00000000 --- a/sciurus17_vision/launch/chest_camera.launch +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sciurus17_vision/launch/chest_camera.launch.py b/sciurus17_vision/launch/chest_camera.launch.py new file mode 100644 index 00000000..e8599a72 --- /dev/null +++ b/sciurus17_vision/launch/chest_camera.launch.py @@ -0,0 +1,41 @@ +# Copyright 2023 RT Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + camera_info_file = 'file://' + get_package_share_directory( + 'sciurus17_vision') + '/config/chest_camera_info.yaml' + usb_cam_node = Node( + package='usb_cam', + executable='usb_cam_node_exe', + namespace='chest_camera', + parameters=[ + {'video_device': '/dev/chestcamera'}, + {'frame_id': 'chest_camera_link'}, + {'image_width': 1280}, + {'image_height': 720}, + {'framerate': 30.0}, + {'camera_name': 'chest_camera'}, + {'camera_info_url': camera_info_file}, + {'pixel_format': 'mjpeg2rgb'} + ], + ) + + return LaunchDescription([ + usb_cam_node + ]) diff --git a/sciurus17_vision/launch/head_camera.launch.py b/sciurus17_vision/launch/head_camera.launch.py new file mode 100644 index 00000000..814c2bf8 --- /dev/null +++ b/sciurus17_vision/launch/head_camera.launch.py @@ -0,0 +1,38 @@ +# Copyright 2023 RT Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + head_camera_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + get_package_share_directory('realsense2_camera'), + '/launch/rs_launch.py']), + launch_arguments={ + 'camera_name': 'head_camera', + 'device_type': 'd415', + 'rgb_camera.profile': '640x360x30', + 'depth_module.profile': '640x360x30', + 'pointcloud.enable': 'true', + 'align_depth.enable': 'true', + }.items() + ) + + return LaunchDescription([ + head_camera_node + ]) diff --git a/sciurus17_vision/launch/realsense.launch b/sciurus17_vision/launch/realsense.launch deleted file mode 100644 index 9d47283f..00000000 --- a/sciurus17_vision/launch/realsense.launch +++ /dev/null @@ -1,71 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sciurus17_vision/package.xml b/sciurus17_vision/package.xml index 4075df52..5e74b668 100644 --- a/sciurus17_vision/package.xml +++ b/sciurus17_vision/package.xml @@ -1,62 +1,24 @@ - + + sciurus17_vision - 2.0.0 + 3.0.0 The sciurus17_vision package - RT Corporation - Shota Hirama - Apache License 2.0 - catkin - cv_bridge - geometry_msgs - image_geometry - image_transport - pcl_ros - roscpp - rospy - sensor_msgs - std_msgs - tf - tf2 - tf2_ros - dynamic_reconfigure - cv_bridge - geometry_msgs - image_geometry - image_transport - pcl_ros - roscpp - rospy - sensor_msgs - std_msgs - tf - tf2 - tf2_ros - dynamic_reconfigure - cv_bridge - geometry_msgs - image_geometry - image_pipeline - image_transport - image_transport_plugins - pcl_ros - roscpp - rospy - sensor_msgs - std_msgs - tf - tf2 - tf2_ros - dynamic_reconfigure - libuvc_camera + Hiroyuki Nomura + Atsushi Kuwagata - sciurus17_msgs + ament_cmake + ament_lint_auto + ament_lint_common - + realsense2_camera + usb_cam + + ament_cmake