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Go2Py_SIM
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realsense launch and node added are added.

This commit is contained in:
Rooholla-KhorramBakht 2024-05-31 12:40:53 +08:00
parent 1941516a60
commit 4922a44251
3 changed files with 13 additions and 3 deletions
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4
deploy/launch_files/realsense.launch.py
View File

@ -18,8 +18,8 @@ def generate_launch_description():
'enable_color': True, 'enable_color': True,
'enable_depth': True, 'enable_depth': True,
'depth_module.emitter_enabled': 1, 'depth_module.emitter_enabled': 1,
'rgb_camera.profile':'640x480x30', 'rgb_camera.color_profile':'640x480x30',
'depth_module.profile': '640x480x30', 'depth_module.depth_profile': '640x480x30',
'enable_gyro': True, 'enable_gyro': True,
'enable_accel': True, 'enable_accel': True,
'gyro_fps': 400, 'gyro_fps': 400,

10
docker/Dockerfile.realsense
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@ -23,3 +23,13 @@ COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh
# Copy custom udev rules file # Copy custom udev rules file
COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules
# Clone and compile the realsense ros
RUN mkdir -p /home/realsenes-ws/src && cd /home/realsenes-ws/src && \
git clone https://github.com/IntelRealSense/realsense-ros.git && \
cd .. && \
source /opt/ros/humble/setup.bash && \
colcon build --symlink-install
# add the source to the bashrc
RUN echo "source /home/realsenes-ws/install/setup.bash" >> /root/.bashrc

2
docker/scripts/workspace-entrypoint.sh
View File

@ -20,5 +20,5 @@ sudo service udev restart
export CMAKE_PREFIX_PATH=/workspace/unitree_ros2/cyclonedds_ws/install/cyclonedds/ export CMAKE_PREFIX_PATH=/workspace/unitree_ros2/cyclonedds_ws/install/cyclonedds/
python3 -m pip install --upgrade pip python3 -m pip install --upgrade pip
cd /workspaces/Go2Py/ && python3 -m pip install -e . cd /workspaces/Go2Py/ && python3 -m pip install -e .
source /home/realsenes-ws/install/setup.bash
$@ $@