Skip to content

FoundationPose

Camera configuration

FoundationPose needs the depth image of the torso front RGB-D camera aligned to the color image. The stock camera launch does not do this, so start the camera with these extra launch args:

  • align_depth:=true
  • filters:=disparity,spatial,temporal
  • enable_pointcloud:=false

Option 1: Temporary (until the next reboot)

The startup manager's start service accepts extra launch args. Run this from any machine on the robot network:

rosservice call /pal_startup_multimedia/stop "app: 'torso_front_rgbd_camera'"
rosservice call /pal_startup_multimedia/start "app: 'torso_front_rgbd_camera'
args: 'align_depth:=true filters:=disparity,spatial,temporal enable_pointcloud:=false'"

Option 2: Permanent

The control startup on kangaroo-5c (not -5m) layers ~/.pal/pal_startup/<dir>/*.yaml over PAL's stock config. ~/.pal/pal_startup/ already exists there and holds only robot_config.yaml.

Create kangaroo-5c:~/.pal/pal_startup/apps/torso_front_rgbd_camera.yaml:

roslaunch: "kangaroo_rgbd_sensors torso_front_rgbd_camera.launch align_depth:=true filters:=disparity,spatial,temporal enable_pointcloud:=false"
roslaunch_arg_file: "$kangaroo_rgbd_device_calibration_path/torso_front_device_info.yaml"
dependencies: ["Functionality: Robot Description"]

This is a copy of the stock file plus the three args.

Note

The startup manager reads the overlay only when it starts, so the change takes effect at the next robot reboot. Use option 1 until then.