Add offboard sensors package (#17)

* Add the clearpath_offboard_sensors package, add launch file for offboard velodyne processing

* Add the image format conversion launch files previously in clearpath_sensors. Update dependencies

clearpath_desktop/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>clearpath_config_live</exec_depend>
+  <exec_depend>clearpath_offboard_sensors</exec_depend>
   <exec_depend>clearpath_platform_msgs</exec_depend>
   <exec_depend>clearpath_viz</exec_depend>
 

clearpath_offboard_sensors/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.5)
+project(clearpath_offboard_sensors)
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY config launch
+  DESTINATION share/${PROJECT_NAME}
+)
+ament_package()

clearpath_offboard_sensors/config/velodyne_lidar.yaml

@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    calibration: /opt/ros/jazzy/share/velodyne_pointcloud/params/VLP16db.yaml
+    max_range: 130.0
+    min_range: 0.9
+    organize_cloud: true
+    view_direction: 0.0
+    model: VLP16
+    fixed_frame: lidar3d_0_laser
+    target_frame: lidar3d_0_laser

clearpath_offboard_sensors/launch/image_compressed_to_raw.launch.py

@@ -0,0 +1,71 @@
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    in_compressed = LaunchConfiguration('in_compressed')
+    out_raw = LaunchConfiguration('out_raw')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value=''
+    )
+
+    arg_in_compressed = DeclareLaunchArgument(
+        'in_compressed',
+        default_value='compressed'
+    )
+
+    arg_out_raw = DeclareLaunchArgument(
+        'out_raw',
+        default_value='image'
+    )
+
+    compressed_transport_node = Node(
+        name='image_compressed_to_raw',
+        namespace=namespace,
+        package='image_transport',
+        executable='republish',
+        remappings=[
+            ('in/compressed', in_compressed),
+            ('out', out_raw),
+        ],
+        arguments=['compressed', 'raw'],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_in_compressed)
+    ld.add_action(arg_out_raw)
+    ld.add_action(compressed_transport_node)
+    return ld

clearpath_offboard_sensors/launch/image_ffmpeg_to_raw.launch.py

@@ -0,0 +1,72 @@
+# Software License Agreement (BSD)
+#
+# @author    Hilary Luo <[email protected]>
+# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    in_ffmpeg = LaunchConfiguration('in_ffmpeg')
+    out_raw = LaunchConfiguration('out_raw')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value=''
+    )
+
+    arg_in_ffmpeg = DeclareLaunchArgument(
+        'in_ffmpeg',
+        default_value='ffmpeg'
+    )
+
+    arg_out_raw = DeclareLaunchArgument(
+        'out_raw',
+        default_value='image'
+    )
+
+    ffmpeg_transport_node = Node(
+        name='image_ffmpeg_to_raw',
+        namespace=namespace,
+        package='image_transport',
+        executable='republish',
+        remappings=[
+            ('in/ffmpeg', in_ffmpeg),
+            ('out', out_raw),
+        ],
+        arguments=['ffmpeg', 'raw'],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_in_ffmpeg)
+    ld.add_action(arg_out_raw)
+    ld.add_action(ffmpeg_transport_node)
+    return ld

clearpath_offboard_sensors/launch/image_raw_to_compressed.launch.py

@@ -0,0 +1,71 @@
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    in_raw = LaunchConfiguration('in_raw')
+    out_compressed = LaunchConfiguration('out_compressed')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value=''
+    )
+
+    arg_in_raw = DeclareLaunchArgument(
+        'in_raw',
+        default_value='image'
+    )
+
+    arg_out_compressed = DeclareLaunchArgument(
+        'out_compressed',
+        default_value='compressed'
+    )
+
+    compressed_transport_node = Node(
+        name='image_raw_to_compressed',
+        namespace=namespace,
+        package='image_transport',
+        executable='republish',
+        remappings=[
+            ('in', in_raw),
+            ('out/compressed', out_compressed),
+        ],
+        arguments=['raw', 'compressed'],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_in_raw)
+    ld.add_action(arg_out_compressed)
+    ld.add_action(compressed_transport_node)
+    return ld

clearpath_offboard_sensors/launch/image_raw_to_ffmpeg.launch.py

@@ -0,0 +1,74 @@
+# Software License Agreement (BSD)
+#
+# @author    Hilary Luo <[email protected]>
+# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+ARGUMENTS = [
+    DeclareLaunchArgument('namespace', default_value=''),
+    DeclareLaunchArgument('in_raw', default_value='image'),
+    DeclareLaunchArgument('out_ffmpeg', default_value='ffmpeg'),
+    DeclareLaunchArgument('encoding', default_value='libx264'),
+    DeclareLaunchArgument('qmax', default_value='40'),
+    DeclareLaunchArgument('preset', default_value='superfast'),
+    DeclareLaunchArgument('tune', default_value='zerolatency'),
+    DeclareLaunchArgument('bit_rate', default_value='1000000'),
+    DeclareLaunchArgument('gop_size', default_value='15'),
+]
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    in_raw = LaunchConfiguration('in_raw')
+    out_ffmpeg = LaunchConfiguration('out_ffmpeg')
+
+    ffmpeg_transport_node = Node(
+        name='image_raw_to_ffmpeg',
+        namespace=namespace,
+        package='image_transport',
+        executable='republish',
+        remappings=[
+            ('in', in_raw),
+            ('out/ffmpeg', out_ffmpeg),
+        ],
+        arguments=['raw', 'ffmpeg'],
+        parameters=[
+            {'ffmpeg_image_transport.encoding': LaunchConfiguration('encoding')},
+            {'ffmpeg_image_transport.qmax': LaunchConfiguration('qmax')},
+            {'ffmpeg_image_transport.preset': LaunchConfiguration('preset')},
+            {'ffmpeg_image_transport.tune': LaunchConfiguration('tune')},
+            {'ffmpeg_image_transport.bit_rate': LaunchConfiguration('bit_rate')},
+            {'ffmpeg_image_transport.gop_size': LaunchConfiguration('gop_size')}],
+    )
+
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(ffmpeg_transport_node)
+    return ld

clearpath_offboard_sensors/launch/image_raw_to_theora.launch.py

@@ -0,0 +1,71 @@
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    in_raw = LaunchConfiguration('in_raw')
+    out_theora = LaunchConfiguration('out_theora')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value=''
+    )
+
+    arg_in_raw = DeclareLaunchArgument(
+        'in_raw',
+        default_value='image'
+    )
+
+    arg_out_theora = DeclareLaunchArgument(
+        'out_theora',
+        default_value='theora'
+    )
+
+    theora_transport_node = Node(
+        name='image_raw_to_theora',
+        namespace=namespace,
+        package='image_transport',
+        executable='republish',
+        remappings=[
+            ('in', in_raw),
+            ('out/theora', out_theora),
+        ],
+        arguments=['raw', 'theora'],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_in_raw)
+    ld.add_action(arg_out_theora)
+    ld.add_action(theora_transport_node)
+    return ld