Launching Oak-D-Pro without overwriting existing robot_description

tinfra

Hi there,

i am using an OAK-D-Pro with ROS2 Humble on Ubuntu 22.04.
My goal is (at the moment) to use just the IMU values. Later i want to use/ try out all the other features as well.
I am starting the camera wit the launch file:
ros2 launch depthai_ros_driver camera.launch.py parent_frame:=imu_link model:=OAK-D-PRO
But this overrides the already published robot_description of the robot i have build.
Is there a way to disable the publishing? Best would be of course to include the urdf of the OAK-D-Pro into my own urdf-file. How would i do this properly?

I noticed as well, that the IMU data published by the camera is in an left-handed-coordinate-system. I now transformed it by myselft, but is there an other solution for that?

Thanks in advance for your help!

jakaskerl

cc @Luxonis-Adam

Luxonis-Adam

Hi,
If you are launching your own robot model, then I think the best option would be to edit it's URDF file to include camera description, and edit robot's launch file to include the camera driver node, for example:

ComposableNodeContainer(
        name=name+'_container',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            ComposableNode(
                package='depthai_ros_driver',
                plugin='depthai_ros_driver::Camera',
                name=name,
                parameters=[params_file],
            ),
        ],
        arguments=['--ros-args', '--log-level', log_level],
        output='both',
    )

note that this will launch camera in separate container, if you want to include the composable node in already running container, you can use LoadComposableNodes action.
IMU data publishing will be provided soon, if you have calibrated it you can publish it as well, method for doing that is provided in the Readme