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>
93 lines
3.2 KiB
Python
93 lines
3.2 KiB
Python
"""
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sensors.launch.py — All sensor drivers + static TF
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Brings up both sensors together with placeholder static transforms.
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Use this to verify sensor data before running full SLAM stack.
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Static TF (placeholder — update with real measurements after physical mount):
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base_link → laser x=0.00 y=0.00 z=0.10 (RPLIDAR: 10cm above base)
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base_link → camera_link x=0.05 y=0.00 z=0.15 (D435i: 5cm fwd, 15cm up)
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Published topics summary:
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/scan LaserScan ~5.5 Hz (RPLIDAR)
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/camera/color/image_raw Image 15 Hz (D435i RGB)
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/camera/depth/image_rect_raw Image 15 Hz (D435i depth)
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/camera/aligned_depth_to_color/image_raw Image 15 Hz (D435i aligned)
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/camera/imu Imu ~200 Hz (D435i IMU)
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Quick verification:
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ros2 topic list
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ros2 topic hz /scan # expect ~5.5 Hz
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ros2 topic hz /camera/color/image_raw # expect 15 Hz
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ros2 topic hz /camera/imu # expect ~200 Hz
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ros2 run tf2_tools view_frames # check TF tree
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"""
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import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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bringup_share = get_package_share_directory('saltybot_bringup')
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realsense_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(bringup_share, 'launch', 'realsense.launch.py')
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),
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)
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rplidar_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(bringup_share, 'launch', 'rplidar.launch.py')
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),
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)
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# Static TF: base_link → laser (RPLIDAR A1M8 mount position)
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# TODO: update x/y/z/yaw with real measurements from robot chassis
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laser_tf = Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='base_link_to_laser',
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arguments=[
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'--x', '0.00',
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'--y', '0.00',
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'--z', '0.10', # 10cm above base_link
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'--roll', '0',
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'--pitch', '0',
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'--yaw', '0',
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'--frame-id', 'base_link',
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'--child-frame-id', 'laser',
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],
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output='screen',
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)
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# Static TF: base_link → camera_link (RealSense D435i mount position)
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# TODO: update x/y/z with real measurements from robot chassis
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camera_tf = Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='base_link_to_camera',
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arguments=[
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'--x', '0.05', # 5cm forward of base_link center
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'--y', '0.00',
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'--z', '0.15', # 15cm above base_link
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'--roll', '0',
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'--pitch', '0',
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'--yaw', '0',
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'--frame-id', 'base_link',
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'--child-frame-id', 'camera_link',
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],
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output='screen',
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)
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return LaunchDescription([
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realsense_launch,
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rplidar_launch,
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laser_tf,
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camera_tf,
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])
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