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Add Multicamera support#100

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AADad578 wants to merge 117 commits intodevelopPurdueLunabotics/purdue_lunabotics:developfrom feature/multicam-simplePurdueLunabotics/purdue_lunabotics:feature/multicam-simpleCopy head branch name to clipboard

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Commits

Commits on Oct 16, 2024

• Changed to include demo code

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• removed realsense updates

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• make front camera true

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• Changed to rgbd camera images

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Commits on Oct 19, 2024

• rectify the rgb and depth to rgbd

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• added subscribe rgbd

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• single camera?

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Commits on Oct 22, 2024

• recording data

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Commits on Oct 23, 2024

• testing rgb and depth seperately

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• added package depedency

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• c make me crazy

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• Update robot.launch

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• i'm stupid

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• a

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• added odometry and rvis

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• Update robot.launch

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• changed back to rgbd mode

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• Update CMakeLists.txt

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• Update robot.launch

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Commits on Oct 26, 2024

• got rgbd_sync working (kind of)

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Commits on Oct 30, 2024

• rotated camera

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• Update cameras.launch

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• Update robot.launch

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• unturn camera

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Commits on Nov 2, 2024

• Update robot.launch

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• name

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• spelling

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• remove rtabmap vis

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• remove other stuff from rtabmap ns

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• add two cameras

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• Update cameras.launch

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• Update robot.launch

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• don't approx sync and changed transforms

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• actually added transforms

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• not entirely sure

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• Revert "not entirely sure"

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• actually fixed the tree (for real this time)

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Commits on Nov 6, 2024

• only 1 camera for odom, still 2 for slam

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• enabled sync

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• sync 2 images to rgbd_images

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• Update robot.launch

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• back to one camera

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• Update robot.launch

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• faster camera?

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• more camera

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• odom gets both cameras now

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• maybe don't print 500 things to console on startup

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• less good camera

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• back into rtabmap ns

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• slower cameras

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Commits on Nov 13, 2024

• publish transforms

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• wait for the transforms to be available

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• removed a random x in the code

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Commits on Nov 18, 2024

• Using two rgbd cameras for slam

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• First implementation. To be tested

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• Preemtively fixed name conflict

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• add obstacles to costmap

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• fix obstacle detection

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• custom manager + add pointcloud filter

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Commits on Nov 19, 2024

• slow down mapping to match rtabmap and some more stuff

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• flip camera

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• change to a different obstacle filter that exposes more arguments

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Commits on Nov 20, 2024

• it works

  WoozyDragon

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• adding lidar stuff to multicam

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Commits on Dec 4, 2024

• reduce density of pointclouds

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• do it better

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• Tuning values

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Commits on Jan 18, 2025

• make pointclouds *but differently*

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• combine the clouds

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• make camera actually at right height, and costmap find new pointclouds

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• maybe rtabmap doesn't need obstacles?

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• change how costmap is generated

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• perhaps rtabmap seeing obstacles is actually good

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• reduce quality of pointcloud

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• do that to both cameras

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Commits on Jan 22, 2025

• multicam works but at 3hz

  WoozyDragon

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Commits on Jan 26, 2025

• fixed transforms

  

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• merge

  

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• make realsense generate pointclouds

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• assemble pointclouds

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• generate pointcloud but differently

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• Update cameras.launch

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• Update cameras.launch

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• launch rs_rgbd instead of rs_camera

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• ensure each camera has different managers

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• idk might revert, kinda sucks

  

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Commits on Jan 29, 2025

• new camera serial numbers

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• merge

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• actually change ids

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• i did it for real this time

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• ok i actually don't have any typos now

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• restore missing args

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Commits on Jan 30, 2025

• camera stuff

  

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• dstar node being annoying, so yeet

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Commits on Jan 31, 2025

• actually do single camera pointcloud generation

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• merge

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Commits on Feb 1, 2025

• add front arg to robot.launch

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• works at about 15hz ish

  

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• automatic failover to ignore lidar if missing and ignore all pointcloud generation if only 1 camera

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• change transforms for testing

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• Three Cameras??

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• three cameras but for real

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• but like actually

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• counting is fun

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• fourth camera?!??!!

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• correct ids

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• fix positions of cameras

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• enable color again

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• handle if extra cameras aren't connected or lidar isn't connected

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Commits on Feb 3, 2025

• unyeet dstar

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Commits on Feb 7, 2025

• added vcpkg to gitmodules

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Commits on Feb 8, 2025

• fixed carriage returns, modes

  

  Lunabotics Computer

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• fixed space

  

  Lunabotics Computer

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Commits on Feb 12, 2025

• remove vcpkg bc it's not used

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• added more filtering to front and back cameras

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Commits on Feb 15, 2025

• new transforms

  

  Lunabotics Computer

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• better mapping, doesn't detect far obstacles

  

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