Added Visualization Lables and static publishers for images #211
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joannetruong
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Sep 11, 2024
intel_realsense_payload_for_spotsim2real/IntelRealSenseCameraInterface.py
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joannetruong
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Sep 17, 2024
jimmytyyang
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Sep 22, 2024
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| head_depth = np.hstack([imgs[Cam.FRONTRIGHT_DEPTH], imgs[Cam.FRONTLEFT_DEPTH]]) | ||
| # Try to get hand image responses , if obtained then we add it to image responses list. From there, | ||
| # we ger hand depth and hand rgb. Taking head rgb and depth out of this block, so that the head images run |
| while not all([self.msgs[s] is not None for s in subscriptions]): | ||
| if rospy.get_time() - start_time > timeout: | ||
| rospy.logwarn(f"[{self.node_name}]: Timeout waiting for image topics.") | ||
| break |
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if we cannot get the images, do we want to continue running the code? Or we want to skill the program and let users know?
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This function gets timeout, tells the user that there's a timeout and continues execution for the topics that are publishing. It just replaces the old method , by giving a log of timeout for a topic.
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Changed visualization UI , which now displays Gripper Image, Depth, Intel Realsense RGB and Realsense depth constantly , which can help to debug issues in cameras. Added labels to visualizer to display which image corresponds to which topic for better user understanding.