vision_sensor_kit_bringup

Vision Sensor Kit Bringup

Overview

This package contains launch and config files to launch Weston Robot's Vision Sensor Kit (top).

Usage

To launch the Vision Sensor Kit, use the provided launch file:

ros2 launch vision_sensor_kit_bringup sensor_kit.launch.py

Launch Files

• sensor_kit.launch.py

  • Sample launch file to launch the top sensor kit sensors with the following configuration
    • Camera model: realsense_d435i / rgb_camera

  Argument	Description	Default Value
  use_namespace	Whether to apply a namespace	False
  namespace	Top-level namespace	""
  front_camera	Front camera model	"" Possible values: rgb_camera, realsense_d435i Leave blank for "none"
  rear_camera	Rear camera model	"" Possible values: rgb_camera, realsense_d435i Leave blank for "none"
  left_camera	Left camera model	"" Possible values: rgb_camera, realsense_d435i Leave blank for "none"
  right_camera	Right camera model	"" Possible values: rgb_camera, realsense_d435i Leave blank for "none"

Nodes

The package will launch the various sensors and their associated driver nodes/supporting nodes

• Description
  • Package: robot_state_publisher
  • Executable/Plugin: robot_state_publisher
  • Name: vision_sensor_kit_state_publisher
• Realsense Camera
  • Driver
    • Package: realsense2_camera
    • Launch File: rs_launch.py
    • Name: <CAMERA_POSITION>_cam/d435i
• RGB Camera
  • Driver
    • Package: usb_cam
    • Executable: usb_cam_node_exe
    • Name: <CAMERA_POSITION>_cam/rgb

Configuration

To better suit your needs/setup, you may need to adjust these accordingly

• Configuration files
• Launch files