Argus Sensors

This repository contains the sensors package for the Argus perception pipeline

System Requirements

• Nvidia Orin Nano Super Developer Kit

• A RealSense D455 Camera connected to your Orin Nano

• An installation of ROS 2 Humble

• An installation of ros-humble-rclcpp-components with apt

• An installation of ros-humble-class-loader with apt

Prerequisites

• Creation of a ROS 2 workspace named argus_ws in your home directory

• Cloning the ROS 2 package contained in this repository into that workspace

Usage

Source ROS 2:

source /opt/ros/humble/setup.bash

Change directory to your workspace:

cd ~/argus_ws

Build the argus_sensors package:

colcon build --packages-select argus_sensors

Source the workspace's setup file:

source install/setup.bash

View what executables your package has, you should now see camera_node:

ros2 pkg executables argus_sensors

Run the camera_node you just created:

ros2 run argus_sensors camera_node

D455 camera

Open a second terminal, ssh into the orin nano and run rqt:

rqt

Select Image View from Plugins > Visualization.

Once there select /camera/realsense2_camera/depth/image_rect_raw and you should see camera data from the D455 appear in your rqt image view.

Development

If you need to format your code for this repo's linter:

ament_uncrustify --reformat path/to/file

Nodes

The argus_sensors package provides the nodes used to interact with the Argus sensor array; including the camera node and the neural telemetry receiver node.

Neural Telemetry Receiver Node

The neural Telemetry Receiver Node subscribes to the topics published by the argus neural interface bridge micro ros node.

Camera Node

The camera node interfaces with a RealSense D455 camera to provide depth, image, and color detection to Argus.