Updated Spectacular AI ROS version to v0.0.2. Updated rviz example. U…

…pdated spectacularai launch configuration
luxonis · Oct 26, 2023 · 110df01 · 110df01
1 parent f4d4bcf
commit 110df01
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diff --git a/Dockerfile b/Dockerfile
@@ -4,7 +4,7 @@ ARG SIM=0
 ARG CORE_NUM=1
 ARG BUILD_TYPE="RelWithDebInfo"
 ARG INCLUDE_SPECTACULARAI_ROS=NO
-ARG SPECTACULARAI_ROS_VERSION=v0.0.1
+ARG SPECTACULARAI_ROS_VERSION=v0.0.2
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \

diff --git a/rae_camera/config/spectacular.rviz b/rae_camera/config/spectacular.rviz
@@ -6,13 +6,13 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /Odometry1
-        - /Odometry1/Shape1
-        - /Odometry1/Covariance1
         - /PointCloud21
         - /Map1
-      Splitter Ratio: 0.5
-    Tree Height: 625
+        - /TF1
+        - /TF1/Frames1
+        - /TF1/Tree1
+      Splitter Ratio: 0.8294117450714111
+    Tree Height: 1063
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -30,7 +30,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: PointCloud2
 Visualization Manager:
   Class: ""
   Displays:
@@ -52,47 +52,8 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Angle Tolerance: 0.10000000149011612
-      Class: rviz_default_plugins/Odometry
-      Covariance:
-        Orientation:
-          Alpha: 0.5
-          Color: 255; 255; 127
-          Color Style: Unique
-          Frame: Local
-          Offset: 1
-          Scale: 1
-          Value: true
-        Position:
-          Alpha: 0.30000001192092896
-          Color: 204; 51; 204
-          Scale: 1
-          Value: true
-        Value: true
-      Enabled: true
-      Keep: 100
-      Name: Odometry
-      Position Tolerance: 0.10000000149011612
-      Shape:
-        Alpha: 1
-        Axes Length: 0.20000000298023224
-        Axes Radius: 0.019999999552965164
-        Color: 255; 25; 0
-        Head Length: 0.30000001192092896
-        Head Radius: 0.10000000149011612
-        Shaft Length: 1
-        Shaft Radius: 0.05000000074505806
-        Value: Axes
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /output/odometry
-      Value: true
     - Class: rviz_default_plugins/Image
-      Enabled: false
+      Enabled: true
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -104,7 +65,7 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /left/image_rect
-      Value: false
+      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -160,24 +121,89 @@ Visualization Manager:
         Value: /output/occupancyGrid_updates
       Use Timestamp: false
       Value: true
-    - Class: rviz_default_plugins/Image
+    - Class: rviz_default_plugins/TF
       Enabled: true
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /overlay
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: false
+        base_link:
+          Value: false
+        base_link_back:
+          Value: false
+        chassis:
+          Value: false
+        left_caster_wheel:
+          Value: false
+        map:
+          Value: true
+        odom:
+          Value: true
+        rae_imu_frame:
+          Value: true
+        rae_left_back_camera_frame:
+          Value: false
+        rae_left_back_camera_optical_frame:
+          Value: true
+        rae_left_camera_frame:
+          Value: false
+        rae_left_camera_optical_frame:
+          Value: true
+        rae_rgb_camera_frame:
+          Value: false
+        rae_rgb_camera_optical_frame:
+          Value: true
+        rae_right_back_camera_frame:
+          Value: false
+        rae_right_back_camera_optical_frame:
+          Value: true
+        rae_right_camera_frame:
+          Value: false
+        rae_right_camera_optical_frame:
+          Value: true
+        right_caster_wheel:
+          Value: false
+      Marker Scale: 0.30000001192092896
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                base_link_back:
+                  {}
+                chassis:
+                  rae_left_back_camera_frame:
+                    rae_left_back_camera_optical_frame:
+                      {}
+                  rae_left_camera_frame:
+                    rae_left_camera_optical_frame:
+                      {}
+                  rae_rgb_camera_frame:
+                    rae_rgb_camera_optical_frame:
+                      {}
+                  rae_right_back_camera_frame:
+                    rae_right_back_camera_optical_frame:
+                      {}
+                  rae_right_camera_frame:
+                    rae_right_camera_optical_frame:
+                      {}
+                left_caster_wheel:
+                  {}
+                rae_imu_frame:
+                  {}
+                right_caster_wheel:
+                  {}
+      Update Interval: 0
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: world
+    Fixed Frame: map
     Frame Rate: 30
   Name: root
   Tools:
@@ -220,7 +246,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 4.2609357833862305
+      Distance: 2.697260856628418
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -235,20 +261,20 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7647970914840698
+      Pitch: 0.3197977542877197
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.2903988361358643
+      Yaw: 0.6372156739234924
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1127
+  Height: 1598
   Hide Left Dock: false
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000003cdfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002fa000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000004a8000000f50000002800fffffffb0000000a0049006d006100670065010000036d0000009b0000000000000000fb0000000a0049006d006100670065010000033b000000cd0000002800ffffff000000010000010f000003cdfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003cd000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f000003cd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000265000005a0fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000004a8000000f50000000000000000fb0000000a0049006d00610067006501000004f5000000e80000002800fffffffb0000000a0049006d006100670065010000033b000000cd0000000000000000000000010000010f000005a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000005a0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008f10000003efc0100000002fb0000000800540069006d00650100000000000008f1000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000571000005a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -257,6 +283,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
-  X: 0
-  Y: 0
+  Width: 2289
+  X: 3437
+  Y: 191
diff --git a/rae_camera/launch/spectacular.launch.py b/rae_camera/launch/spectacular.launch.py
@@ -11,24 +11,22 @@
 
 
 def launch_setup(context, *args, **kwargs):
-
     params_file = LaunchConfiguration("params_file")
     name = LaunchConfiguration('name').perform(context)
     return [
-            Node(
-                condition=IfCondition(LaunchConfiguration("use_rviz").perform(context)),
-                package="rviz2",
-                executable="rviz2",
-                name="rviz2",
-                output="log",
-                arguments=["-d", LaunchConfiguration("rviz_config")],
-            ),
+        Node(
+            condition=IfCondition(LaunchConfiguration("use_rviz").perform(context)),
+            package="rviz2",
+            executable="rviz2",
+            name="rviz2",
+            output="log",
+            arguments=["-d", LaunchConfiguration("rviz_config")],
+        ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory('rae_description'), 'launch', 'rsp.launch.py')),
             launch_arguments={'sim': 'false'}.items()
         ),
-
         ComposableNodeContainer(
             name=name+"_container",
             namespace="",
@@ -52,15 +50,18 @@ def launch_setup(context, *args, **kwargs):
                     package='spectacularai_ros2',
                     plugin='spectacularAI::ros2::Node',
                     parameters=[
-                        {"imu_frame_id": "base_footprint"},
-                        {"world_frame_id": "world"},
-                        {"cam0_frame_id": name+"_left_camera_optical_frame"},
-                        {"cam1_frame_id": name+"_right_camera_optical_frame"},
+                        # Camera extrinsics
+                        {"cam0_optical_frame_id": name + "_right_camera_optical_frame"},
+                        {"cam1_optical_frame_id": name + "_left_camera_optical_frame"},
+                        {"base_link_frame_id": LaunchConfiguration('parent_frame').perform(context)},
                         {"depth_scale": 1.0/1000.0}, # Depth map values are multiplied with this to get distance in meters
                         {"camera_input_type": "stereo_depth_features"},
                         {"recording_folder": LaunchConfiguration('recording_folder').perform(context)},
                         {"enable_mapping": True},
                         {"enable_occupancy_grid": True},
+                        {"output_on_imu_samples": True},
+                        {"separate_odom_tf": True},
+                        {"device_model": "RAE"} # Use stored imuToCamera from spectacularai_ros project
                     ],
                     remappings=[
                         ('input/imu', name + '/imu/data'),
@@ -80,7 +81,6 @@ def launch_setup(context, *args, **kwargs):
 
 
 def generate_launch_description():
-    spectacular_prefix = get_package_share_directory("spectacularai_ros2")
     rae_camera_prefix = get_package_share_directory("rae_camera")
     declared_arguments = [
         DeclareLaunchArgument("name", default_value="rae"),