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[WIP]Baxter three realsense camera #1945

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[WIP]Baxter three realsense camera #1945

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7e25727
add three realsense camera on baxter
Dec 11, 2024
b29d1f0
fix conflicts about namespaces of some nodes, use realsense_base as d…
soonhyo Dec 18, 2025
a0e2753
changed default realsense camera to realsense_torso
soonhyo Dec 18, 2025
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45 changes: 41 additions & 4 deletions jsk_baxter_robot/jsk_baxter_startup/baxter.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,11 +10,15 @@
<!-- camera-->
<arg name="launch_openni" default="false"/>
<arg name="launch_kinect2" default="false"/>
<arg name="launch_realsense_torso" default="false"/>
<arg name="launch_realsense_head" default="true"/>
<arg name="launch_realsense_torso" default="true"/>
<arg name="launch_realsense_base" default="false"/>
<arg name="launch_spherical_kodak" default="false" />
<arg name="launch_spherical_stereo" default="false" />
<arg name="start_openni" default="false"/>
<arg name="REALSENSE_CAMERA_NS" value="realsense_torso" />
<arg name="REALSENSE_CAMERA_HEAD_NS" value="realsense_head" />
<arg name="REALSENSE_CAMERA_TORSO_NS" value="realsense_torso" />
<arg name="REALSENSE_CAMERA_BASE_NS" value="realsense_base" />
<arg name="SPHERICAL_CAMERA_NS" value="kodak_head" />
<arg name="SPHERICAL_LEFT_CAMERA_NS" value="elp_head_left" />
<arg name="SPHERICAL_RIGHT_CAMERA_NS" value="elp_head_right" />
Expand Down Expand Up @@ -144,10 +148,43 @@
<arg name="launch_openni" value="$(arg start_openni)" />
</include>

<!-- Use realsense d435 on head -->
<include if="$(arg launch_realsense_head)"
file="$(find jsk_baxter_startup)/jsk_baxter_sensors/baxter_realsense_camera.launch">
<arg name="realsense_camera_ns" value="$(arg REALSENSE_CAMERA_HEAD_NS)" />
<arg name="launch_marker_6dof" value="true" />
<arg name="color_width" default="640" />
<arg name="color_height" default="480" />
<arg name="color_fps" default="30" />
<arg name="depth_width" default="640" />
<arg name="depth_height" default="480" />
<arg name="depth_fps" default="30" />
</include>

<!-- Use realsense L515 on torso -->
<include if="$(arg launch_realsense_torso)"
file="$(find jsk_baxter_startup)/jsk_baxter_sensors/baxter_realsense_torso.launch">
<arg name="realsense_camera_ns" value="$(arg REALSENSE_CAMERA_NS)" />
file="$(find jsk_baxter_startup)/jsk_baxter_sensors/baxter_realsense_camera.launch">
<arg name="realsense_camera_ns" value="$(arg REALSENSE_CAMERA_TORSO_NS)" />
<arg name="launch_marker_6dof" value="true" />
<arg name="color_width" default="960" />
<arg name="color_height" default="540" />
<arg name="color_fps" default="30" />
<arg name="depth_width" default="640" />
<arg name="depth_height" default="480" />
<arg name="depth_fps" default="30" />
</include>

<!-- Use realsense d435 on base -->
<include if="$(arg launch_realsense_base)"
file="$(find jsk_baxter_startup)/jsk_baxter_sensors/baxter_realsense_camera.launch">
<arg name="realsense_camera_ns" value="$(arg REALSENSE_CAMERA_BASE_NS)" />
<arg name="launch_marker_6dof" value="true" />
<arg name="color_width" default="640" />
<arg name="color_height" default="480" />
<arg name="color_fps" default="30" />
<arg name="depth_width" default="640" />
<arg name="depth_height" default="480" />
<arg name="depth_fps" default="30" />
</include>

<!-- Use spherical kodak on head -->
Expand Down
4 changes: 4 additions & 0 deletions jsk_baxter_robot/jsk_baxter_startup/baxter_default.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
<launch>
<arg name="moveit" default="true" />
<arg name="launch_realsense_head" default="false"/>
<arg name="launch_realsense_torso" default="true"/>
<arg name="launch_realsense_base" default="false"/>
<arg name="launch_spherical_kodak" default="false" />
<arg name="launch_spherical_stereo" default="false" />
<arg name="arm_interpolation" default="minjerk" />
Expand All @@ -17,7 +19,9 @@
<arg name="sanity_check_joint_trajectory" value="false" />
<arg name="launch_openni" value="false"/>
<arg name="launch_kinect2" value="false"/>
<arg name="launch_realsense_head" value="$(arg launch_realsense_head)"/>
<arg name="launch_realsense_torso" value="$(arg launch_realsense_torso)"/>
<arg name="launch_realsense_base" value="$(arg launch_realsense_base)"/>
<arg name="launch_spherical_kodak" value="$(arg launch_spherical_kodak)" />
<arg name="launch_spherical_stereo" value="$(arg launch_spherical_stereo)" />
<arg name="start_openni" value="false"/>
Expand Down
136 changes: 132 additions & 4 deletions jsk_baxter_robot/jsk_baxter_startup/config/baxter_default.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: RealsenseTorsoImage
SyncSource: RealsenseTorsoCloud
Preferences:
PromptSaveOnExit: true
Toolbars:
Expand Down Expand Up @@ -53,6 +53,8 @@ Visualization Manager:
Value: true
- Class: rviz/TF
Enabled: false
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
Expand Down Expand Up @@ -107,6 +109,26 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
l_gripper_l_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_tip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_tip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_arm_itb:
Alpha: 1
Show Axes: false
Expand All @@ -123,6 +145,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_hand:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -201,6 +224,26 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_tip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_tip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_arm_itb:
Alpha: 1
Show Axes: false
Expand All @@ -217,6 +260,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_hand:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -394,6 +438,34 @@ Visualization Manager:
Show Robot Visual: true
Value: false
Velocity_Scaling_Factor: 1
- 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: RealsenseHeadCloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /realsense_head/depth_registered/quarter/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Expand Down Expand Up @@ -422,6 +494,46 @@ Visualization Manager:
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: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: RealsenseBaseCloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /realsense_base/depth_registered/quarter/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /realsense_head/color/image_rect_color
Max Value: 1
Median window: 5
Min Value: 0
Name: RealsenseHeadImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /realsense_torso/color/image_rect_color
Expand All @@ -434,6 +546,18 @@ Visualization Manager:
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /realsense_base/color/image_rect_color
Max Value: 1
Median window: 5
Min Value: 0
Name: RealsenseBaseImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /elp_head_left/image_raw
Expand Down Expand Up @@ -510,10 +634,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Pitch: 1.3897963762283325
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.135403871536255
Yaw: 3.1404032707214355
Saved: ~
Window Geometry:
Displays:
Expand All @@ -529,7 +653,11 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 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
QMainWindow State: 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
RealsenseBaseImage:
collapsed: false
RealsenseHeadImage:
collapsed: false
RealsenseTorsoImage:
collapsed: false
Selection:
Expand Down
74 changes: 74 additions & 0 deletions jsk_baxter_robot/jsk_baxter_startup/jsk_baxter_sensors/baxter_realsense_camera.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,74 @@
<launch>
<arg name="launch_transformable_server" default="true" />
<arg name="launch_marker_6dof" default="true" />
<arg name="realsense_camera_ns" default="realsense_torso" />
<arg name="serial_no" default="828112073867" if="$(eval arg('realsense_camera_ns') == 'realsense_head' )" />
<arg name="serial_no" default="f0232933" if="$(eval arg('realsense_camera_ns') == 'realsense_torso' )" />
<arg name="serial_no" default="827112071768" if="$(eval arg('realsense_camera_ns') == 'realsense_base' )" />

<arg name="publish_tf" default="false" />
<!-- in order to get higher resolution, we need USB3.2 -->
<arg name="color_width" default="960" />
<arg name="color_height" default="540" />
<arg name="color_fps" default="30" />
<arg name="depth_width" default="640" />
<arg name="depth_height" default="480" />
<arg name="depth_fps" default="30" />

<arg name="camera_frame_id" default="$(arg realsense_camera_ns)_color_optical_frame" />
<arg name="manager" default="$(arg realsense_camera_ns)_camera_manager" />
<arg name="input_cloud" default="/$(arg realsense_camera_ns)/depth_registered/quarter/points" />
<arg name="input_image" default="/$(arg realsense_camera_ns)/depth_registered/quarter/image" />

<!-- Wrap nodes in namespace to avoid conflicts when launching multiple cameras -->
<group ns="$(arg realsense_camera_ns)">
<!-- interactive marker -->
<node name="transformable_interactive_server"
pkg="jsk_interactive_marker" type="transformable_server_sample"
if="$(arg launch_transformable_server)" >
<rosparam subst_value="true">
display_interactive_manipulator: true
display_interactive_manipulator_only_selected: true
</rosparam>
</node>

<!-- tf for realsense at baxter -->
<node name="marker_6dof_tf_base_to_color"
pkg="jsk_interactive_marker" type="marker_6dof" if="$(arg launch_marker_6dof)">
<rosparam command="load" file="$(find jsk_baxter_startup)/jsk_baxter_sensors/$(arg realsense_camera_ns)_pose.yaml" />
<rosparam subst_value="true" >
object_type: cube
publish_tf: true
tf_frame: $(arg camera_frame_id)
object_x: 0.1
object_y: 0.1
object_z: 0.1
</rosparam>
</node>

<node name="realsense_resize_points_publisher"
pkg="nodelet" type="nodelet"
args="load jsk_pcl/ResizePointsPublisher /$(arg realsense_camera_ns)/$(arg manager)">
<remap from="~input" to="/$(arg realsense_camera_ns)/depth_registered/points" />
<remap from="~output" to="$(arg input_cloud)" />
<rosparam>
step_x: 2
step_y: 2
</rosparam>
</node>
</group>

<include file="$(find jsk_baxter_startup)/jsk_baxter_sensors/realsense.launch">
<arg name="realsense_camera_ns" value="$(arg realsense_camera_ns)" />
<arg name="manager" value="$(arg manager)" />
<arg name="serial_no" value="$(arg serial_no)" />
<arg name="publish_tf" value="$(arg publish_tf)" />
<arg name="color_width" value="$(arg color_width)" />
<arg name="color_height" value="$(arg color_height)" />
<arg name="color_fps" value="$(arg color_fps)" />
<arg name="depth_width" value="$(arg depth_width)" />
<arg name="depth_height" value="$(arg depth_height)" />
<arg name="depth_fps" value="$(arg depth_fps)" />
</include>

</launch>
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