stuff

WATonomous · Apr 4, 2024 · 3f9d2a8 · 3f9d2a8
1 parent 2b796d6
commit 3f9d2a8
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Showing 4 changed files with 37 additions and 8 deletions.
diff --git a/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile b/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile
@@ -21,6 +21,8 @@ FROM ${BASE_IMAGE} as dependencies
 # Camera and LiDAR ROS2 Driver
 RUN apt update && apt install -y ros-$ROS_DISTRO-spinnaker-camera-driver ros-$ROS_DISTRO-velodyne
 
+RUN apt install -y ros-$ROS_DISTRO-rviz2 ros-$ROS_DISTRO-image-proc
+
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
@@ -34,6 +36,10 @@ WORKDIR /
 RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \
     rm -rf /root/* /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/*
 
+
+# Enable X11 Forwarding
+RUN apt-get install -qqy x11-apps
+
 ################################ Build ################################
 FROM dependencies as build
 

diff --git a/modules/dev_overrides/docker-compose.infrastructure.yaml b/modules/dev_overrides/docker-compose.infrastructure.yaml
@@ -9,4 +9,4 @@ services:
   data_stream:
     extends:
       file: ../docker-compose.infrastructure.yaml
-      service: data_stream
+      service: data_stream
diff --git a/modules/docker-compose.interfacing.yaml b/modules/docker-compose.interfacing.yaml
@@ -13,6 +13,12 @@ services:
     command: /bin/bash -c "ros2 launch sensor_interfacing all_sensors.launch.py"
     network_mode: "host"
 
+    environment:
+      DISPLAY: $DISPLAY
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ~/.Xauthority:/root/.Xauthority
+
   can_interfacing:
     build:
       context: ..

diff --git a/src/interfacing/sensor_interfacing/launch/include/cameras.launch.py b/src/interfacing/sensor_interfacing/launch/include/cameras.launch.py
@@ -20,24 +20,41 @@ def generate_launch_description():
                                        description='FLIR serial number of camera (in quotes!!)')
 
     # extra_params = { 'debug': True,
-    #                  #'device_link_throughput_limit': 125000000,
-    #                  #'gev_scps_packet_size': 9000,
-    #                  }
+                    #  'device_link_throughput_limit': 125000000,
+                    #  'gev_scps_packet_size': 1440,
+                    #  }
 
     camera_node = Node(
         package='spinnaker_camera_driver',
         executable='camera_driver_node',
         output='screen',
         name='flir_camera',
-        parameters=[{'parameter_file': parameter_file,
-                     'serial_number': [serial],
-                    }],
+        arguments=['--ros-args', '--log-level', 'debug'],
+        parameters=[
+            # extra_params,
+            {
+                    'parameter_file': parameter_file,
+                    'serial_number': [serial],
+                    }]
+                    ,
         remappings=[
             ('~/control', '/exposure_control/control'),
         ])
 
+    debayer_node = Node(
+        package='image_proc',
+        executable='debayer_node',
+        output='screen',
+        name='debayer_node',
+        remappings=[
+            ('/image_raw', '/flir_camera/image_raw'),
+    ]
+    )
+
+
     return LaunchDescription([
         parameter_file_arg,
         serial_arg,
-        camera_node
+        camera_node,
+        debayer_node
     ])