Added Stretch Realsense launch file

stretch_core/launch/stretch_realsense.launch

@@ -0,0 +1,34 @@
+<launch>
+
+  <arg name="rviz"                default="false"         doc="whether to show Rviz" />
+  <arg name="resolution"          default="high"          doc="resolution of the color/depth images ('low' or 'high')" />
+  <arg name="preset"              default="High Accuracy" doc="depth image visual preset ('Default', 'High Accuracy', and more at https://dev.intelrealsense.com/docs/d400-series-visual-presets#section-preset-table)" />
+  <arg name="publish_frustum_viz" default="false"         doc="whether to pub viz of cameras' frustums" />
+  <arg name="publish_upright_img" default="true"          doc="whether to pub rotated upright color image" />
+
+  <!-- D435i DRIVER -->
+  <include file="$(find stretch_core)/launch/d435i_$(arg resolution)_resolution.launch" />
+
+  <!-- VISUAL PRESET CONFIGURATION -->
+  <node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen">
+    <param name="initial_mode" type="string" value="$(arg preset)"/>
+  </node>
+
+  <!-- FRUSTUM FIELD OF VIEW VISUALIZATION -->
+  <node name="d435i_frustum_visualizer" pkg="stretch_core" type="d435i_frustum_visualizer" output="screen" if="$(arg publish_frustum_viz)" />
+
+  <!-- UPRIGHT ROTATED CAMERA VIEW -->
+  <node name="upright_rotater" pkg="image_rotate" type="image_rotate" if="$(arg publish_upright_img)">
+    <remap from="image" to="/camera/color/image_raw" />
+    <remap from="rotated/image" to="/camera/color/upright_image_raw" />
+    <param name="target_frame_id" type="str" value="" />
+    <param name="target_x" type="double" value="-1.5708" />
+  </node>
+
+  <!-- VISUALIZE -->
+  <group if="$(arg rviz)">
+    <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_core)/rviz/realsense.rviz" />
+    <node name="fake_base_link_tf_publisher" pkg="tf" type="static_transform_publisher" args="0.019 -0.007 1.262 0.601 0.399 -0.364 0.589 /fake_base_link /camera_link 100" />
+  </group>
+
+</launch>

stretch_core/nodes/d435i_frustum_visualizer

@@ -103,13 +103,13 @@ class FrustumNode:
         marker.type = marker.TRIANGLE_LIST
         marker.action = marker.ADD
         marker.lifetime = rospy.Duration(0.5) #0.2
-        marker.text = 'D435i_frustum'
         marker.header.frame_id = frame_id
         marker.header.stamp = timestamp
         marker.id = 0
         marker.scale.x = 1.0
         marker.scale.y = 1.0
         marker.scale.z = 1.0
+        marker.pose.orientation.w = 1.0
         if camera_type == 'depth': 
             # frustum color and transparency
             # gray

stretch_core/rviz/realsense.rviz

@@ -0,0 +1,234 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 255
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        camera_accel_frame:
+          Value: false
+        camera_accel_optical_frame:
+          Value: false
+        camera_aligned_depth_to_color_frame:
+          Value: false
+        camera_color_frame:
+          Value: false
+        camera_color_optical_frame:
+          Value: false
+        camera_color_optical_frame_rotated:
+          Value: false
+        camera_depth_frame:
+          Value: false
+        camera_depth_optical_frame:
+          Value: false
+        camera_link:
+          Value: true
+        fake_base_link:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        fake_base_link:
+          camera_link:
+            camera_accel_frame:
+              camera_accel_optical_frame:
+                {}
+            camera_aligned_depth_to_color_frame:
+              camera_color_optical_frame:
+                camera_color_optical_frame_rotated:
+                  {}
+            camera_color_frame:
+              {}
+            camera_depth_frame:
+              camera_depth_optical_frame:
+                {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /frustum_marker/color_camera
+      Name: Color Camera Frustum
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /frustum_marker/depth_camera
+      Name: Depth Camera Frustum
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - 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: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 1
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic: /camera/depth/color/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: false
+      History Length: 1
+      Name: Imu
+      Queue Size: 10
+      Topic: /camera/accel/sample_corrected
+      Unreliable: false
+      Value: false
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/color/upright_image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Color Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: fake_base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 3.5590744018554688
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0.190033957362175
+        Y: -0.3485092520713806
+        Z: 0.6963028311729431
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.2897970676422119
+      Target Frame: <Fixed Frame>
+      Yaw: 2.318114995956421
+    Saved: ~
+Window Geometry:
+  Color Image:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b50000035afc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000018a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000160043006f006c006f007200200049006d00610067006501000001cd000001ca0000001600fffffffb0000000a0049006d0061006700650000000234000000960000000000000000fb0000000a0049006d0061006700650000000270000001270000000000000000fb0000000c00430061006d006500720061000000029e000000f90000000000000000fb0000000a0049006d0061006700650100000297000001000000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000057d0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1848
+  X: 72
+  Y: 27