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unitreerobotics / unitree_ros_to_real

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Camera and Lidar data #4

Open DaveDe opened 3 years ago

DaveDe commented 3 years ago

Is there any way to access camera and lidar data while interacting with the API (for A1 robot)?

I understand ROS packages are installed on the Jetson, however I'm not sure how we should be accessing this data from our code.

itaouil commented 3 years ago

Hi,

The AlienGO robot has three camera sensors. Two D435 and a t265 (or at least the robot we have).

There is one camera (d435) that is connected to both the onboard PC and the NVIDIA TX2 (our robot has these two PCs inside it).

If you want to start either of the three cameras you will have to install the realsense packages (https://github.com/IntelRealSense/realsense-ros#installation-instructions) and start the necessary camera drivers on the specific PC.

This is at least how I did it. I am not sure if there is another way to go about it that makes the sensor data available over ROS topics.

Also, if you want IMU data you can get it from the internal IMU of the robot, or mount an additional camera that has an internal IMU.

I hope this helps whoever is trying to start the cameras on the robot :)

~Ilyass