diff --git a/config/helena_realsense.yaml b/config/helena_realsense.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7085fc511f324a30c7f45ad7d711dc5ad557d875
--- /dev/null
+++ b/config/helena_realsense.yaml
@@ -0,0 +1,35 @@
+serial_no: ''
+json_file_path: ''
+rosbag_filename: ''
+
+depth_width: 640
+depth_height: 480
+enable_depth: true
+
+infra1_width: 640
+infra1_height: 480
+enable_infra1: true
+
+infra2_width: 640
+infra2_height: 480
+enable_infra2: true
+
+color_width: 640
+color_height: 480
+enable_color: true
+
+depth_fps: 30
+infra1_fps: 30
+infra2_fps: 30
+color_fps: 30
+enable_imu: true
+
+enable_pointcloud: false
+pointcloud_texture_stream: 'RS2_STREAM_COLOR'
+pointcloud_texture_index: 0
+
+enable_sync: false
+align_depth: true
+
+filters: ''
+
diff --git a/package.xml b/package.xml
index 5e21f58de78369616c6fa156f6aa399c1b08536e..e2227e8d580655918e563100ef62317b57a16d82 100644
--- a/package.xml
+++ b/package.xml
@@ -52,7 +52,7 @@
<exec_depend>iri_pioneer3_bringup</exec_depend>
<exec_depend>iri_robosense_lidar_bringup</exec_depend>
<exec_depend>iri_bno055_imu_bringup</exec_depend>
-
+ <exec_depend>iri_realsense_depth_bringup</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index be20ed1838cf3d49c464937f739711a484bb10e0..26f30d750ac4aa9071eb51344108d48bf8c6fc11 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -7,7 +7,7 @@ Panels:
- /Global Options1
- /Sensors1
Splitter Ratio: 0.5
- Tree Height: 633
+ Tree Height: 418
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -16,7 +16,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
- Splitter Ratio: 0.588679016
+ Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
@@ -27,6 +27,8 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: robosense
+Preferences:
+ PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@@ -38,7 +40,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.0299999993
+ Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@@ -55,10 +57,40 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
+ camera_accel_frame:
+ Value: true
+ camera_accel_optical_frame:
+ Value: true
+ camera_gyro_frame:
+ Value: true
+ camera_gyro_optical_frame:
+ Value: true
helena/base_footprint:
Value: true
helena/base_link:
Value: true
+ helena/camera_aligned_depth_to_color_frame:
+ Value: true
+ helena/camera_bottom_screw_frame:
+ Value: true
+ helena/camera_color_frame:
+ Value: true
+ helena/camera_color_optical_frame:
+ Value: true
+ helena/camera_depth_frame:
+ Value: true
+ helena/camera_depth_optical_frame:
+ Value: true
+ helena/camera_infra1_frame:
+ Value: true
+ helena/camera_infra1_optical_frame:
+ Value: true
+ helena/camera_infra2_frame:
+ Value: true
+ helena/camera_infra2_optical_frame:
+ Value: true
+ helena/camera_link:
+ Value: true
helena/front_left_axle:
Value: true
helena/front_left_hub:
@@ -75,6 +107,8 @@ Visualization Manager:
Value: true
helena/helena_box:
Value: true
+ helena/helena_realsense_support:
+ Value: true
helena/imu_bno055:
Value: true
helena/imu_bno055_base:
@@ -120,8 +154,6 @@ Visualization Manager:
{}
helena/front_sonar:
{}
- helena/helena_box:
- {}
helena/rear_left_axle:
helena/rear_left_hub:
helena/rear_left_wheel:
@@ -132,17 +164,41 @@ Visualization Manager:
{}
helena/rear_sonar:
{}
- helena/robosense_base:
- helena/robosense:
- {}
helena/top_plate:
- {}
+ helena/helena_box:
+ {}
+ helena/helena_realsense_support:
+ helena/camera_bottom_screw_frame:
+ helena/camera_link:
+ camera_accel_frame:
+ camera_accel_optical_frame:
+ {}
+ camera_gyro_frame:
+ camera_gyro_optical_frame:
+ {}
+ helena/camera_aligned_depth_to_color_frame:
+ helena/camera_color_optical_frame:
+ {}
+ helena/camera_color_frame:
+ {}
+ helena/camera_depth_frame:
+ helena/camera_depth_optical_frame:
+ {}
+ helena/camera_infra1_frame:
+ helena/camera_infra1_optical_frame:
+ {}
+ helena/camera_infra2_frame:
+ helena/camera_infra2_optical_frame:
+ {}
+ helena/robosense_base:
+ helena/robosense:
+ {}
helena/imu_bno055_base:
helena/imu_bno055:
{}
Update Interval: 0
Value: true
- - Alpha: 0.899999976
+ - Alpha: 0.8999999761581421
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
@@ -161,6 +217,47 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ camera_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_color_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_color_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_depth_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_depth_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra1_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra1_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
front_left_axle:
Alpha: 1
Show Axes: false
@@ -201,6 +298,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ helena_realsense_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
imu_bno055:
Alpha: 1
Show Axes: false
@@ -277,7 +378,7 @@ Visualization Manager:
Scale: 1
Value: true
Position:
- Alpha: 0.300000012
+ Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
@@ -289,12 +390,12 @@ Visualization Manager:
Shape:
Alpha: 1
Axes Length: 1
- Axes Radius: 0.100000001
+ Axes Radius: 0.10000000149011612
Color: 255; 25; 0
- Head Length: 0.200000003
- Head Radius: 0.100000001
+ Head Length: 0.20000000298023224
+ Head Radius: 0.10000000149011612
Shaft Length: 0.5
- Shaft Radius: 0.0500000007
+ Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /helena/odom
Unreliable: false
@@ -304,8 +405,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 1.86796319
- Min Value: -5.28491831
+ Max Value: 1.867963194847107
+ Min Value: -5.284918308258057
Value: true
Axis: X
Channel Name: x
@@ -316,15 +417,15 @@ Visualization Manager:
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 1.85023665
+ Max Intensity: 1.8502366542816162
Min Color: 0; 0; 0
- Min Intensity: -5.28405237
+ Min Intensity: -5.28405237197876
Name: SonarPointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 20
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Points
Topic: /helena/rosaria/sonar_pointcloud2
Unreliable: false
@@ -348,19 +449,61 @@ Visualization Manager:
Max Color: 255; 255; 255
Max Intensity: 255
Min Color: 0; 0; 0
- Min Intensity: 0.462781101
+ Min Intensity: 0.5161057710647583
Name: robosense
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /helena/sensors/rslidar_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: RealSensePoints
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic: /helena/sensors/nav_cam/depth_registered/points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /helena/sensors/nav_cam/aligned_depth_to_color/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: RealSenseCamera
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
Enabled: true
Name: Sensors
Enabled: true
@@ -378,7 +521,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
Topic: /helena/initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /helena/move_base_simple/goal
- Class: rviz/PublishPoint
@@ -388,25 +534,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 10
+ Distance: 8.066530227661133
Enable Stereo Rendering:
- Stereo Eye Separation: 0.0599999987
+ Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0
- Y: 0
- Z: 0
+ X: 0.1004096046090126
+ Y: 0.5926481485366821
+ Z: 1.295820713043213
Focal Shape Fixed Size: false
- Focal Shape Size: 0.0500000007
+ Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.00999999978
- Pitch: 0.785398185
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7503980398178101
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 0.785398185
+ Yaw: 2.3653981685638428
Saved: ~
Window Geometry:
Displays:
@@ -414,7 +560,9 @@ Window Geometry:
Height: 846
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000308000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003400000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000002f4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000022d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e005200650061006c00530065006e0073006500430061006d0065007200610100000270000000c10000001600ffffff000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b0000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000340000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ RealSenseCamera:
+ collapsed: false
Selection:
collapsed: false
Time:
@@ -424,5 +572,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1200
- X: 65
- Y: 24
+ X: 67
+ Y: 27