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bringup: add vision kit to platform launch
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@hanskw-weston
hanskw-weston committed Sep 11, 2024
1 parent 22a4413 commit 76f5250
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88 changes: 46 additions & 42 deletions src/wr_devkit_bringup/README.md
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Expand Up @@ -11,71 +11,75 @@ This package is meant to be a starting point for users to build upon and customi
* Robot base: Ranger mini v2 / Scout mini
* Chassis: ugv_devkit_v1
* Base sensor kit: w200d_sensor_kit
* Top sensor kit: mid360_sensor_kit
* Top sensor kit: mid360_sensor_kit + vision_sensor_kit

| Argument | Description | Default Value |
| ------------- | ---------------------------- | ---------------- |
| use_namespace | Whether to apply a namespace | False |
| namespace | Top-level namespace | "" |
| use_sim_time | Whether to use sim time | False |
| robot_model | Whether to use sim time | ranger_mini_v2 |
| Argument | Description | Default Value |
| ------------- | ---------------------------- | --------------------------------------------------------------------------------- |
| use_namespace | Whether to apply a namespace | False |
| namespace | Top-level namespace | "" |
| use_sim_time | Whether to use sim time | False |
| robot_model | Whether to use sim time | ranger_mini_v2 |
| front_camera | Front camera model | `""`<br/> Possible values: rgb_camera, realsense_d435i<br/>Leave blank for "none" |
| rear_camera | Rear camera model | `""`<br/> Possible values: rgb_camera, realsense_d435i<br/>Leave blank for "none" |
| left_camera | Left camera model | `""`<br/> Possible values: rgb_camera, realsense_d435i<br/>Leave blank for "none" |
| right_camera | Right camera model | `""`<br/> Possible values: rgb_camera, realsense_d435i<br/>Leave blank for "none" |

* [wr_devkit_cartographer.launch.py](./launch/slam/wr_devkit_cartographer.launch.py)
* Sample launch file to perform 2D SLAM using cartographer
* Assumes the following configuration by default
* Top sensor kit: mid360_sensor_kit

| Argument | Description | Default Value |
| ------------------ | ----------------------------- | ------------------------ |
| config_path | Path to config file directory | wr_devkit_bringup/config |
| config | Config file name | cartographer.lua |
| resolution | Map resolution | 0.05 |
| publish_period_sec | Publish period | 1.0 |
| use_sim_time | Whether to use sim time | False |
| Argument | Description | Default Value |
| ------------------ | ----------------------------- | -------------------------- |
| config_path | Path to config file directory | `wr_devkit_bringup/config` |
| config | Config file name | `cartographer.lua` |
| resolution | Map resolution | `0.05` |
| publish_period_sec | Publish period | `1.0` |
| use_sim_time | Whether to use sim time | `False` |

* [wr_devkit_rtabmap.launch.py](./launch/slam/wr_devkit_cartographer.launch.py)
* [wr_devkit_rtabmap.launch.py](./launch/vslam/wr_devkit_rtabmap.launch.py)
* Sample launch file to perform 2D vSLAM using rtabmap
* Assumes the following configuration by default
* Top sensor kit: mid360_sensor_kit

| Argument | Description | Default Value |
| ------------------ | ------------------------------------------- | ------------- |
| use_sim_time | Whether to use simulation time | False |
| qos | Quality of Service | 2 |
| localization | Whether to use RTAB-Map localization mode | False |
| rviz | Whether to launch RViz automatically | False |
| Argument | Description | Default Value |
| ------------ | ----------------------------------------- | ------------- |
| use_sim_time | Whether to use simulation time | `False` |
| qos | Quality of Service | `2` |
| localization | Whether to use RTAB-Map localization mode | `False` |
| rviz | Whether to launch RViz automatically | `False` |

* [wr_devkit_nav2.launch.py](./launch/nav2/wr_devkit_nav2.launch.py)
* Sample launch file to perform 2D navigation using nav2
* Robot base: Ranger mini v2
* Chassis: ugv_devkit_v1
* Top sensor kit: mid360_sensor_kit

| Argument | Description | Default Value |
| -------------- | ---------------------------- | ---------------------------------------------------- |
| use_namespace | Whether to apply a namespace | False |
| namespace | Top-level namespace | "" |
| robot_param | Robot Nav2 param file | nav2_ranger_mini.param.yaml |
| params_file | Nav2 param file | wr_devkit_bringup/config/robot_param |
| map | Map file | map.yaml |
| autostart | To autostart nodes | True |
| container_name | Node container name | "nav2_container" |
| log_level | LOG level | "info |
| use_sim_time | Whether to use sim time | False |
| Argument | Description | Default Value |
| -------------- | ---------------------------- | -------------------------------------- |
| use_namespace | Whether to apply a namespace | `False` |
| namespace | Top-level namespace | `""` |
| use_sim_time | Whether to use sim time | `False` |
| robot_param | Robot Nav2 param file | `nav2_ranger_mini.param.yaml` |
| params_file | Nav2 param file | `wr_devkit_bringup/config/robot_param` |
| map | Map file | `map.yaml` |
| autostart | To autostart nodes | `True` |
| container_name | Node container name | `nav2_container` |
| log_level | LOG level | `info` |

* [wr_devkit_nav2_rtab.launch.py](./launch/nav2/wr_devkit_nav2.launch.py)
* Sample launch file to perform 2D navigation using nav2
* Robot base: Scout mini
* Chassis: ugv_devkit_v1
* Top sensor kit: mid360_sensor_kit

| Argument | Description | Default Value |
| -------------- | ---------------------------- | ---------------------------------------------------- |
| use_namespace | Whether to apply a namespace | False |
| namespace | Top-level namespace | "" |
| robot_param | Robot Nav2 param file | nav2_scout_mini.param.yaml |
| params_file | Nav2 param file | wr_devkit_bringup/config/robot_param | |
| autostart | To autostart nodes | True |
| container_name | Node container name | "nav2_container" |
| log_level | LOG level | "info |
| use_sim_time | Whether to use sim time | False |
| Argument | Description | Default Value |
| -------------- | ---------------------------- | -------------------------------------- |
| use_namespace | Whether to apply a namespace | `False` |
| namespace | Top-level namespace | `""` |
| use_sim_time | Whether to use sim time | `False` |
| robot_param | Robot Nav2 param file | `nav2_scout_mini.param.yaml` |
| params_file | Nav2 param file | `wr_devkit_bringup/config/robot_param` | |
| autostart | To autostart nodes | `True` |
| container_name | Node container name | `nav2_container` |
| log_level | LOG level | `info` |
12 changes: 11 additions & 1 deletion src/wr_devkit_bringup/launch/platform/wr_devkit_platform.launch.py
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Expand Up @@ -166,6 +166,15 @@ def generate_launch_description():
"sensor_kit.launch.py",
])
]),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare("vision_sensor_kit_bringup"),
"launch",
"sensor_kit.launch.py",
])
]),
launch_arguments={
"front_camera": front_camera,
"rear_camera": rear_camera,
Expand All @@ -185,7 +194,8 @@ def generate_launch_description():
launch_arguments={
"robot_base": "ranger_mini",
}.items(),
)
),

])

return LaunchDescription([
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