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[ADD] launch extrinsics and frames for setup with multiple cameras
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hollydinkel committed Aug 29, 2024
1 parent bfdcdfd commit 2b63eec
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Showing 3 changed files with 18 additions and 13 deletions.
25 changes: 15 additions & 10 deletions abb_control/launch/abb_cameras.launch
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
<launch>

<arg name="serial_no_camera1" value="017322075060" />
<arg name="serial_no_camera2" value="130322270317" />
<arg name="camera1" default="d435"/>
<arg name="camera2" default="d405"/>
<arg name="camera3" default="oak"/>
<arg name="tf_prefix_camera1" default="$(arg camera1)"/>
<arg name="tf_prefix_camera2" default="$(arg camera2)"/>
<arg name="tf_prefix_camera3" default="$(arg camera3)"/>
<arg name="serial_no_camera1" value="017322075060" />
<arg name="serial_no_camera2" value="130322270317" />
<arg name="camera1" default="d435"/>
<arg name="camera2" default="d405"/>
<arg name="camera3" default="oak"/>
<arg name="tf_prefix_camera1" default="$(arg camera1)"/>
<arg name="tf_prefix_camera2" default="$(arg camera2)"/>
<arg name="tf_prefix_camera3" default="$(arg camera3)"/>

<group ns="$(arg camera1)">
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
Expand All @@ -24,6 +24,8 @@
<arg name="align_depth" value="true" />
<arg name="ordered_pc" value="true" />
</include>
<!-- <node pkg="tf" type="static_transform_publisher" name="link_6_to_d435_camera_color_optical_frame_tf" args="0.0131191 0.0345247 -0.0382688 0.708756, -0.7054088, -0.0062758, 0.0048991 link_6 d435_camera_color_optical_frame 10" /> -->
<node pkg="tf" type="static_transform_publisher" name="link_6_to_d435_link_tf" args="0.01801587 0.0156162 -0.03926776 0.00038930373662151424 0.7130193860400215 -0.002601741316836596 0.7011393830871517 link_6 d435_link 10" />
</group>

<group ns="$(arg camera2)">
Expand All @@ -41,11 +43,14 @@
<arg name="align_depth" value="true" />
<arg name="ordered_pc" value="true" />
</include>
<!-- <node pkg="tf" type="static_transform_publisher" name="base_link_m_to_d405_color_optical_frame_tf" args="-0.180838 -0.270798 0.314999 0.84536115 0.36976739 -0.12184461 -0.36577383 base_link_m d405_color_optical_frame 10" /> -->
<node pkg="tf" type="static_transform_publisher" name="base_link_m_to_d405_link_tf" args="-0.1808 0.2708 0.3150 -0.3625 0.1163 0.8516 0.3602 base_link_m d405_link 10" />
</group>

<group ns="$(arg camera3)">
<include file="$(find depthai_ros_driver)/launch/camera.launch" >
<group>
<include file="$(find depthai_ros_driver)/launch/rgbd_pcl.launch" >
</include>
<node pkg="tf" type="static_transform_publisher" name="base_link_m_to_oak_rgb_camera_optical_frame_tf" args="-0.343573 0.50373 0.551695​ -0.0456 0.9259 -0.3731 -0.0382 base_link_m oak_rgb_camera_optical_frame 10" />
</group>

</launch>
6 changes: 3 additions & 3 deletions abb_control/launch/abb_control.launch
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="multi" default="true" />
<arg name="sim" default="true" />
<arg name="robot_ip" default="192.168.125.1" unless="$(arg sim)"/>
<arg name="camera" default="false" />
<arg name="cameras" default="false" />
<arg name="pointer" default="false" />
<arg name="tracking" default="false" />
<arg name="node_start_delay" default="" />
Expand Down Expand Up @@ -80,8 +80,8 @@
</include>
</group>

<group if="$(arg camera)" >
<include file="$(find depthai_ros_driver)/launch/camera.launch" >
<group if="$(arg cameras)" >
<include file="$(find abb_control)/launch/abb_cameras.launch" >
</include>
</group>

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