Franka RealSense Camera Extrinsics (ROS Noetic)

This is package provides functionality to manually set the extrinsics of realsense cameras. This is done by adding a gui for users to adjust the pose of the realsense in rviz. To tune the parameters, the pointcloud of the robot should match the robot model produced by forward kinematics.

Note that a control interface and demonstration logging utility is provided by the panda_utils package.

Setup

2. Create a ros workspace at ~/ros/franka_ws/src/
3. Download this repo to ~/ros/franka_ws/src/
4. Make sure you have librealsense v2.50.0 installed. You can find out your version by running realsense-viewer, it should be shown somewhere in the viewer gui.
5. Download the folder realsense-ros v2.3.2 from this link: https://github.com/IntelRealSense/realsense-ros/releases/tag/2.3.2. Move realsense-ros-2.3.2 to ~/ros/franka_ws/src/
6. (only if you have a D405 realsense) Next, you update franka_ws/src/realsense-ros-2.3.2/realsense_camera/src/realsense_node_factory.cpp to support the D405. Specificially, look for switch(pid) on line 357. Simply add case 0x0B5B: // D405 into to switch case.
7. Setup a python environment. If you are installing panda_utils then you can use the same one created there. Run pip install "empy==3.3.4" catkin_pkg
8. cd ~/ros/franka_ws/src/; catkin_make

Example usage

# ONE TIME SETUP:
echo "ROS_WS='/PATH/TO/ros/franka_ws'" >> ~/.bashrc; source ~/.bashrc # this is to franka_ws/, not ros/

# Terminal 1:
source /opt/ros/noetic/setup.bash; source ${ROS_WS}/devel/setup.bash
roscore

# Terminal 2 - Realsense
source /opt/ros/noetic/setup.bash; source ${ROS_WS}/devel/setup.bash;
roslaunch franka_realsense_extrinsics main.launch \
    json_file_path:=${ROS_WS}/src/franka_realsense_extrinsics/config/realsense_config.json \
    clip_distance:=1.4 filters:="spatial,temporal" \
    depth_width:=640 depth_height:=480 depth_fps:=15 \
    color_width:=640 color_height:=480 color_fps:=15