update docker and launch files

luxonis · Oct 12, 2023 · 57288c0 · 57288c0
1 parent d14ca9d
commit 57288c0
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Showing 2 changed files with 8 additions and 11 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -32,6 +32,7 @@ RUN --mount=type=secret,id=SPECTACULAR_AI_TOKEN if [ "$INCLUDE_SPECTACULARAI_ROS
       && ROS_DISTRO=$ROS_DISTRO DEPTHAI_WS=$UNDERLAY_WS GITHUB_RAE_PAT_TOKEN=$(cat /run/secrets/SPECTACULAR_AI_TOKEN) . ./scripts/download_and_build_static.sh \
       && apt-get -y remove unzip \
       && echo "if [ -f $(pwd)/spectacularai_ros2/install/setup.bash ]; then source $(pwd)/spectacularai_ros2/install/setup.bash; fi" >> $HOME/.bashrc; \
+      && echo "if [ -f $(pwd)/spectacularai_ros2/install/setup.bash ]; then source $(pwd)/spectacularai_ros2/install/setup.bash; fi" >> $HOME/.zshrc; \
   fi
 
 ENTRYPOINT [ "/ws/src/rae-ros/entrypoint.sh" ]

diff --git a/rae_camera/launch/spectacular.launch.py b/rae_camera/launch/spectacular.launch.py
@@ -14,9 +14,7 @@ def launch_setup(context, *args, **kwargs):
 
     params_file = LaunchConfiguration("params_file")
     name = LaunchConfiguration('name').perform(context)
-    parent_frame = LaunchConfiguration('parent_frame',  default = 'oak-d-base-frame')
-    urdf_launch_dir = os.path.join(get_package_share_directory('depthai_descriptions'), 'launch')
-    depthai_prefix = get_package_share_directory("depthai_ros_driver")
+    parent_frame = LaunchConfiguration('parent_frame',  default = 'base_footprint')
     return [
             Node(
                 condition=IfCondition(LaunchConfiguration("use_rviz").perform(context)),
@@ -28,12 +26,9 @@ def launch_setup(context, *args, **kwargs):
             ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                os.path.join(urdf_launch_dir, 'urdf_launch.py')),
-            launch_arguments={'tf_prefix': name,
-                              'base_frame': name,
-                              'parent_frame': parent_frame,
-                              'use_composition': 'true',
-                              'use_base_descr': 'true'}.items()),
+                os.path.join(get_package_share_directory('rae_description'), 'launch', 'rsp.launch.py')),
+            launch_arguments={'sim': 'false'}.items()
+        ),
 
         ComposableNodeContainer(
             name=name+"_container",
@@ -80,12 +75,13 @@ def launch_setup(context, *args, **kwargs):
 
 def generate_launch_description():
     spectacular_prefix = get_package_share_directory("spectacularai_ros2")
+    rae_camera_prefix = get_package_share_directory("rae_camera")
     declared_arguments = [
         DeclareLaunchArgument("name", default_value="rae"),
         DeclareLaunchArgument("use_rviz", default_value='false'),
         DeclareLaunchArgument("recording_folder", default_value=""),
-        DeclareLaunchArgument("parent_frame", default_value="oak-d-base-frame"),
-        DeclareLaunchArgument("params_file", default_value=os.path.join(spectacular_prefix, 'launch', 'oak_d.yaml')),
+        DeclareLaunchArgument("parent_frame", default_value="base_footprint"),
+        DeclareLaunchArgument("params_file", default_value=os.path.join(rae_camera_prefix, 'config', 'spectacular.yaml')),
         DeclareLaunchArgument("rviz_config", default_value=os.path.join(spectacular_prefix, 'launch', 'oak_d.rviz')),
     ]
     return LaunchDescription(