sl-perception
76067d6d89
Adds saltybot_bringup ROS2 package with four launch files: - realsense.launch.py — D435i at 640x480x15fps, IMU unified topic - rplidar.launch.py — RPLIDAR A1M8 via /dev/rplidar udev symlink - sensors.launch.py — both sensors + static TF (base_link→laser/camera) - slam.launch.py — sensors + slam_toolbox online_async (compose entry point) Sensor config YAMLs (mounted at /config/ in container): - realsense_d435i.yaml — Nano power-budget settings (15fps, no pointcloud) - rplidar_a1m8.yaml — Standard scan mode, 115200 baud, laser frame - slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution) Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src (was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory) Topic reference and verification commands in SENSORS.md. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
54 lines
2.9 KiB
YAML
54 lines
2.9 KiB
YAML
# RealSense D435i configuration — Jetson Nano (power-budget tuned)
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#
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# Profile format: WxHxFPS
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# Constraint: ~10W total budget. 640x480x15 saves ~0.4W vs 30fps.
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#
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# Reference topics at these settings:
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# /camera/color/image_raw 640x480 15 Hz RGB8
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# /camera/depth/image_rect_raw 640x480 15 Hz Z16
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# /camera/aligned_depth_to_color/image_raw 640x480 15 Hz Z16
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# /camera/imu 6-axis ~200 Hz (accel@100Hz + gyro@400Hz fused)
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# /camera/color/camera_info 640x480 15 Hz
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# /camera/depth/camera_info 640x480 15 Hz
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#
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# Hardware IMU: Bosch BMI055
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# Accelerometer native rate: 100 Hz
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# Gyroscope native rate: 400 Hz
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# unite_imu_method=2: linearly interpolates accel to match gyro timestamps
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camera:
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ros__parameters:
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# ── Streams ──────────────────────────────────────────────────────────────
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depth_module.profile: "640x480x15"
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rgb_camera.profile: "640x480x15"
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enable_depth: true
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enable_color: true
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enable_infra1: false # not needed for RGB-D SLAM
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enable_infra2: false
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# ── IMU ──────────────────────────────────────────────────────────────────
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enable_gyro: true
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enable_accel: true
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# 0=none 1=copy 2=linear_interpolation
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# Use 2: aligns accel timestamps to gyro rate, required for sensor fusion
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unite_imu_method: 2
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# ── Alignment ────────────────────────────────────────────────────────────
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# Projects depth pixels into RGB frame — required for rtabmap_ros rgbd input
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align_depth.enable: true
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# ── Point cloud ──────────────────────────────────────────────────────────
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# Disabled: rtabmap_ros generates its own from aligned depth.
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# Maxwell GPU cannot handle both simultaneously at budget.
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pointcloud.enable: false
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# ── TF ───────────────────────────────────────────────────────────────────
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publish_tf: true
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tf_publish_rate: 0.0 # 0 = publish static transforms only (no redundant timer)
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# ── Device ───────────────────────────────────────────────────────────────
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# Leave serial_no empty to auto-select first found device
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# serial_no: ''
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# device_type: d435i
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