All 4 versions running now: scene/servicer cams, and external and pro detection. External detection works well, internal does not.

Author: rlpratt12

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/launch/36h11_scene.launch.yml

@@ -0,0 +1,25 @@
+launch:
+  - arg:
+      name: device
+      default: "0"
+
+  - node_container:
+      pkg: rclcpp_components
+      exec: component_container
+      name: apriltag_container
+      namespace: ""
+      composable_node:
+        - pkg: apriltag_ros
+          plugin: AprilTagNode
+          name: apriltag
+          namespace: apriltag
+          remap:
+            - from: /apriltag/image_rect
+              to: /scene_camera/color
+            - from: /apriltag/camera_info
+              to: /scene_camera/camera_info
+          param:
+            - from: $(find-pkg-share "space_satellite_sim_camera_cal")/launch/tags_36h11.yaml
+          extra_arg:
+            - name: use_intra_process_comms
+              value: "True"

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/launch/agent_bridge.launch.xml

@@ -5,4 +5,7 @@
   <include
     file="$(find-pkg-share space_satellite_sim_camera_cal)/launch/36h11.launch.yml"
   />
+  <include
+    file="$(find-pkg-share space_satellite_sim_camera_cal)/launch/36h11_scene.launch.yml"
+  />
 </launch>

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml

@@ -16,6 +16,8 @@
         parameters="{parameters}"
         camera_optical_frame="{camera_optical_frame}"
         waypoint_name="Camera Calibration 1"
+        camera_image_topic="{camera_image_topic}"
+        camera_info_topic="{camera_info_topic}"
       />
       <SubTree
         ID="Calibrate Camera at Waypoint - Detect"
@@ -24,6 +26,8 @@
         parameters="{parameters}"
         camera_optical_frame="{camera_optical_frame}"
         waypoint_name="Camera Calibration 2"
+        camera_image_topic="{camera_image_topic}"
+        camera_info_topic="{camera_info_topic}"
       />
       <SubTree
         ID="Calibrate Camera at Waypoint - Detect"
@@ -32,6 +36,8 @@
         parameters="{parameters}"
         camera_optical_frame="{camera_optical_frame}"
         waypoint_name="Camera Calibration 3"
+        camera_image_topic="{camera_image_topic}"
+        camera_info_topic="{camera_info_topic}"
       />
       <SubTree
         ID="Calibrate Camera at Waypoint - Detect"
@@ -40,6 +46,8 @@
         parameters="{parameters}"
         camera_optical_frame="{camera_optical_frame}"
         waypoint_name="Camera Calibration 4"
+        camera_image_topic="{camera_image_topic}"
+        camera_info_topic="{camera_info_topic}"
       />
       <Decorator
         ID="ForEach"
@@ -128,6 +136,11 @@
         <Metadata subcategory="Perception - Camera Calibration" />
       </MetadataFields>
 
+      <inout_port name="camera_image_topic" default="/scene_camera/color" />
+      <inout_port
+        name="camera_info_topic"
+        default="/scene_camera/camera_info"
+      />
       <input_port name="camera_mounting_frame" default="external_camera_link" />
       <input_port
         name="camera_optical_frame"

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_at_waypoint_-_detect.xml

@@ -51,6 +51,8 @@
               camera_optical_frame="{camera_optical_frame}"
               computed_pose="{computed_pose}"
               parameters="{parameters}"
+              camera_image_topic="{camera_image_topic}"
+              camera_info_topic="{camera_info_topic}"
             />
           </Decorator>
           <Action
@@ -78,6 +80,9 @@
         <Metadata runnable="false" />
         <Metadata subcategory="Perception - Camera Calibration" />
       </MetadataFields>
+
+      <inout_port name="camera_info_topic" default="{camera_info_topic}" />
+      <inout_port name="camera_image_topic" default="{camera_image_topic}" />
       <inout_port
         name="camera_optical_frame"
         default="{camera_optical_frame}"

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_scene_camera.xml

@@ -7,11 +7,12 @@
     _favorite="false"
   >
     <SubTree
-      ID="Calibrate Camera - Detect Tags"
+      ID="Calibrate Camera"
       _collapsed="true"
       camera_mounting_frame="external_camera_link"
-      camera_optical_frame="scene_camera_optical_frame"
-      mounting_pose_save_file="calibrated_scene_camera_mounting_pose.txt"
+      camera_optical_frame="scene_camera_color_optical_frame"
+      mounting_pose_save_file="calibrated_scene_cam_mounting_pose.txt"
+      mounting_pose_parent_frame="world"
     />
   </BehaviorTree>
   <TreeNodesModel>

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_scene_camera_-_detect_tags.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root
+  BTCPP_format="4"
+  main_tree_to_execute="Calibrate Scene Camera - Detect Tags"
+>
+  <!--//////////-->
+  <BehaviorTree
+    ID="Calibrate Scene Camera - Detect Tags"
+    _description="Calibrate the scene camera from multiple waypoints using the DetectAprilTags behavior."
+    _favorite="false"
+  >
+    <SubTree
+      ID="Calibrate Camera - Detect Tags"
+      _collapsed="true"
+      camera_mounting_frame="external_camera_link"
+      camera_optical_frame="scene_camera_color_optical_frame"
+      mounting_pose_save_file="calibrated_scene_cam_mounting_pose_detect.txt"
+      camera_image_topic="/scene_camera/color"
+      camera_info_topic="/scene_camera/camera_info"
+      mounting_pose_parent_frame="world"
+    />
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Calibrate Scene Camera - Detect Tags">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Perception - Camera Calibration" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_servicer_camera.xml

@@ -11,7 +11,7 @@
       _collapsed="true"
       camera_mounting_frame="servicer_camera_mounting_frame"
       camera_optical_frame="servicer_camera_optical_frame"
-      mounting_pose_save_file="calibrated_servicer_camera_mounting_pose.txt"
+      mounting_pose_save_file="calibrated_servicer_cam_mounting_pose.txt"
       mounting_pose_parent_frame="world"
     />
   </BehaviorTree>

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_servicer_camera_-_detect_tags.xml

@@ -6,16 +6,18 @@
   <!--//////////-->
   <BehaviorTree
     ID="Calibrate Servicer Camera - Detect Tags"
-    _description="Calibrate the servicer camera from multiple waypoints."
+    _description="Calibrate the servicer camera from multiple waypoints using the DetectAprilTags behavior."
     _favorite="false"
   >
     <SubTree
       ID="Calibrate Camera - Detect Tags"
       _collapsed="true"
       camera_mounting_frame="servicer_camera_mounting_frame"
       camera_optical_frame="servicer_camera_optical_frame"
-      mounting_pose_save_file="calibrated_servicer_camera_mounting_pose.txt"
+      mounting_pose_save_file="calibrated_servicer_cam_mounting_pose.txt"
       mounting_pose_parent_frame="world"
+      camera_image_topic="/servicer_camera/color"
+      camera_info_topic="/servicer_camera/camera_info"
     />
   </BehaviorTree>
   <TreeNodesModel>

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/camera_pose_from_cal_tool_-_detect_tags.xml

@@ -15,13 +15,13 @@
         ID="GetImage"
         message_out="{image}"
         timeout_sec="2.0"
-        topic_name="/servicer_camera/color"
+        topic_name="{camera_image_topic}"
       />
       <Action
         ID="GetCameraInfo"
         message_out="{camera_info}"
         timeout_sec="2.0"
-        topic_name="/servicer_camera/camera_info"
+        topic_name="{camera_info_topic}"
       />
       <Action
         ID="DetectAprilTags"
@@ -115,6 +115,8 @@
         <Metadata subcategory="Perception - Camera Calibration" />
       </MetadataFields>
 
+      <inout_port name="camera_image_topic" default="{camera_image_topic}" />
+      <inout_port name="camera_info_topic" default="{camera_info_topic}" />
       <inout_port
         name="camera_optical_frame"
         default="{camera_optical_frame}"