Mujoco Camera topics and PointCloud2 topics are now displayed correctly in RViz #196
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| @@ -618,36 +610,6 @@ def command_mobile_base_velocity_and_publish_state(self): | |||
| i.linear_acceleration.z = az | |||
| self.imu_wrist_pub.publish(i) | |||
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| if self.broadcast_odom_tf: | |||
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| @@ -538,36 +560,6 @@ def command_mobile_base_velocity_and_publish_state(self): | |||
| # publish IMU sensor data | |||
| sensor_status = self.sim.pull_sensor_data() | |||
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| try: | |||
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Note: this just got moved down/refactored to def publish_camera_and_lidar()
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Changes:
for camera, frame in camera_data.get_all(auto_rotate=True).items():call to publish rotated camera frames, relative to theirget_camera_frame()camera frame.To test, please use the
use_cameras:=trueparameter:ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=false mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1 use_cameras:=trueThis PR depends on hello-robot/stretch_mujoco#52 (as well as all the other PR's mentioned in #194 ).