realsense launch files updated

Makefile

@@ -5,7 +5,7 @@ nav2:
 	@cd deploy && docker build --no-cache --tag go2py_nav2:latest -f docker/Dockerfile.nav2 .
 
 nav2_start:
-	@ ./scripts/nav2_start
+	@ ./scripts/run_nav2.sh
 
 messages:
 	@cd scripts && ./make_msgs.sh 

deploy/docker/Dockerfile.nav2

@@ -22,10 +22,10 @@ git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://
 cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
 
 # copy the go2py ros2 nodes
-COPY ros2_nodes/sportmode_nav2 /nav2_ws/src/sportmode_nav2
-COPY ros2_nodes/m-explore-ros2 /nav2_ws/src/m-explore-ros2
-COPY ros2_nodes/go2py_messages /nav2_ws/src/go2py_messages
-RUN cd /nav2_ws && source /opt/ros/humble/setup.bash && source /unitree_ros2/cyclonedds_ws/install/setup.bash && colcon build --symlink-install
+COPY ros2_nodes/sportmode_nav2 /home/nav2_ws/src/sportmode_nav2
+COPY ros2_nodes/m-explore-ros2 /home/nav2_ws/src/m-explore-ros2
+COPY ros2_nodes/go2py_messages /home/nav2_ws/src/go2py_messages
+RUN cd /home/nav2_ws && source /opt/ros/humble/setup.bash && source /unitree_ros2/cyclonedds_ws/install/setup.bash && colcon build --symlink-install
 
 # set the entrypoint to bash
 ENTRYPOINT ["/bin/bash"]

deploy/launch_files/realsense-h264.launch.py

@@ -9,33 +9,6 @@ from launch_ros.descriptions import ComposableNode
 
 
 def generate_launch_description():
-    # RealSense
-    # realsense_config_file_path = os.path.join(
-    #     get_package_share_directory('isaac_ros_h264_encoder'),
-    #     'config', 'realsense.yaml'
-    # )
-    realsense_config_file_path = 'realsense.yaml'
-    realsense_node = ComposableNode(
-        package='realsense2_camera',
-        plugin='realsense2_camera::RealSenseNodeFactory',
-        parameters=[realsense_config_file_path],
-        remappings=[
-            ('infra1/image_rect_raw', 'go2/realsense/left/image_rect_raw_mono'),
-            ('infra2/image_rect_raw', 'go2/realsense/right/image_rect_raw_mono'),
-            ('color/image_raw',       'go2/realsense/color/image_raw_mono'),
-            ('infra1/camera_info',    'go2/realsense/left/camera_info'),
-            ('infra2/camera_info',    'go2/realsense/right/camera_info'),
-            ('color/camera_info',     'go2/realsense/color/camera_info'),
-            ('depth/camera_info',     'go2/realsense/depth/camera_info'),
-            ('depth/color/points',     'go2/realsense/depth/color/points'),
-            ('depth/image_rect_raw',     'go2/realsense/depth/image_rect_raw'),
-            ('extrinsics/depth_to_accel',     'go2/realsense/extrinsics/depth_to_accel'),
-            ('extrinsics/depth_to_color',     'go2/realsense/extrinsics/depth_to_color'),
-            ('extrinsics/depth_to_gyro',     'go2/realsense/extrinsics/depth_to_gyro'),
-            ('imu',     'go2/realsense/imu'),
-
-        ]
-    )
     color_format_converter_node = ComposableNode(
         package='isaac_ros_image_proc',
         plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode',
@@ -44,8 +17,8 @@ def generate_launch_description():
                 'encoding_desired': 'rgb8',
         }],
         remappings=[
-            ('image_raw', 'go2/realsense/color/image_raw_mono'),
-            ('image', 'go2/realsense/color/image_raw')]
+            ('image_raw', '/go2/d455/color/image_raw'),
+            ('image', '/go2/d455/color/image_raw_mono')]
     )
 
     color_encoder_node = ComposableNode(
@@ -66,9 +39,10 @@ def generate_launch_description():
         namespace='encoder',
         package='rclcpp_components',
         executable='component_container_mt',
-        composable_node_descriptions=[realsense_node,
+        composable_node_descriptions=[
                                       color_format_converter_node,
-                                      color_encoder_node],
+                                    #   color_encoder_node
+                                      ],
         output='screen'
     )
 

deploy/launch_files/realsense.launch.py

@@ -8,16 +8,16 @@ from launch_ros.actions import Node
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            name='go2_cam',
-            namespace='go2/cam',
+            name='d455',
+            namespace='go2',
             package='realsense2_camera',
             executable='realsense2_camera_node',
             parameters=[{
-                    'enable_infra1': True,
-                    'enable_infra2': True,
+                    'enable_infra1': False,
+                    'enable_infra2': False,
                     'enable_color': True,
-                    'enable_depth': False,
-                    'depth_module.emitter_enabled': 0,
+                    'enable_depth': True,
+                    'depth_module.emitter_enabled': 1,
                     'rgb_camera.profile':'640x480x30',
                     'depth_module.profile': '640x480x30',
                     'enable_gyro': True,
@@ -25,6 +25,7 @@ def generate_launch_description():
                     'gyro_fps': 400,
                     'accel_fps': 200,
                     'unite_imu_method': 2,
+                    'pointcloud.enable': True
                     # 'tf_publish_rate': 0.0
             }]
         )

deploy/launch_files/realsense.yaml

@@ -34,3 +34,5 @@ align_depth: false
 unite_imu_method: 2
 gyro_fps: 400
 accel_fps: 200
+camera_namespace: ""
+namespace: ""

docker/Dockerfile.go2py

@@ -18,6 +18,6 @@ RUN --mount=type=cache,target=/var/cache/apt \
     --mount=type=bind,source=scripts/install-unitree-ros2.sh,target=/tmp/install-unitree-ros2.sh \
     bash /tmp/install-unitree-ros2.sh
 
-RUN apt install -y ros-humble-isaac-ros-h264-decoder ros-humble-isaac-ros-h264-encoder ros-humble-realsense2-camera
+RUN apt install -y ros-humble-isaac-ros-h264-decoder ros-humble-isaac-ros-h264-encoder
 
 USER $USERNAME

docs/nav2.md

@@ -0,0 +1,7 @@
+# Nav2 with Go2
+This notes describe the process getting an exploration and mapping sytem running on the robot using the Go2Py docker and configuration files. In this setup we use the following components:
+- **ROS Robot Localization:** We use the EKF node of the ROS robot localization package to generate the odometry TF transformations based on the robot's buildin leg inertial odometry systm (`/utlidar/robot_odom`). The go2py_bridge listens to this topic and publishes `/go2/odom` messages re-stamped with dock's internal clock. The configuraiton parameters for this node are [here](). 
+
+- **ROS SLAM Toolbox:** FOR SLAM, we use the ROS SLAM toobox that takes the odometry frames from the localization node alongside the laser scan topics from the hesai LiDAR (`/go2/scan`) to make a 2D occupancy map of the environment and the transformation between the `odom` and `map` frame. 
+
+- **ROS2 Navigation:** Finally we use the ROS navigation2 to 

scripts/.isaac_ros_common-config

@@ -1,2 +1,2 @@
-CONFIG_IMAGE_KEY="ros2_humble.go2py"
+CONFIG_IMAGE_KEY="ros2_humble.go2py.realsense"
 CONFIG_DOCKER_SEARCH_DIRS=(../docker)

scripts/nav2_docker_start.sh

@@ -1 +0,0 @@
-docker run --rm -it --privileged --network host -v $(pwd)/deploy/ros2_nodes/sportmode_nav2:/home/nav2_ws/src/sportmode_nav2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_nav2:latest