Launch Files

These are .launch files that can be run using roslaunch:

roslaunch rktl_perception <launch file>

cal.launch

Utility launch file that launches an interface for calibrating all cameras. It is configured for a 9 squares by 7 squares chessboard pattern, where each square is 26cm is length.

camera.launch

Launch file containing everything that needs to be run for 1 camera. The camera_name argument can be changed to easily change the camera used.

Launch Arguments

  • load_manager (default: true): If true, a nodelet manager is started. If a nodelet manager is already running, set this to false to avoid any errors.

  • manager_name (default: camera_manager): The name of the nodelet manager to use for nodes that require it.

  • manager_threads (default: 4): Number of threads to use in the nodelet manager, if started.

  • camera_name (default: cam0): Name of the camera to launch the stack for.

Nodes

  • cams/{camera_name}/{manager_name}: Nodelet manager. Only run if the load_manager argument is set to true.

  • cams/{camera_name}/{camera_name}: Nodelet of type pointgrey_camera_driver/PointGreyCameraNodelet. Puts camera feed onto the ROS network. Loads parameters (including camera serial number) from rktl_perception/config/{camera_name}/pointgrey.yaml and calibration from rktl_perception/config/{camera_name}/calibration.yaml.

  • cams/{camera_name}/apriltag: apriltag_ros_continuous_node node from the apriltag_ros package. Looks for AprilTags in the camera feed and outputs the result to be used by other nodes. Loads parameters from rktl_perception/config/apriltag_settings.yaml and rktl_perception/config/tags.yaml.

  • localizer: localizer node from the rktl_perception package.

  • pose_to_tf: pose_to_tf node from the rktl_perception package.

  • ball_detection: ball_detection node from the rktl_perception package. Loads parameters from rktl_perception/config/ball_settings.yaml.

Included Launch Files

  • image_proc image_proc.launch: Basic processing stack (image rectification for the provided camera).

color_picker.launch

Utility launch file that opens a color picker used for fine tuning the parameters used for ball detection.

field_view.launch

Utility launch file used for displaying the camera positions and feeds in RViz.

focus_assist.launch

Utility launch file used launching the topics needed for focusing camera lenses.