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Add a camera-renderer setting to lab_sim #970

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17 changes: 13 additions & 4 deletions src/lab_sim/description/picknik_ur.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,15 @@
<robot name="ur5e" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="mujoco_model" default="description/scene.xml" />
<xacro:arg name="mujoco_model_package" default="lab_sim" />
<!-- Which renderer produces this config's camera topics: mujoco (the default), nyx, or both on separate topics. runtime.launch.xml reads the same variable to decide whether to start the Nyx node, so the two halves cannot disagree. An unrecognized value fails the description rather than leaving the config with no cameras. -->
<xacro:arg
name="camera_renderer"
default="$(optenv MOVEIT_PRO_CAMERA_RENDERER mujoco)"
/>
<xacro:property
name="mujoco_cameras"
value="${ dict(mujoco=True, nyx=False, both=True)['$(arg camera_renderer)'] }"
/>
<xacro:arg
name="point_cloud_publish_rate"
default="$(optenv MOVEIT_PRO_POINT_CLOUD_PUBLISH_RATE 10)"
Expand Down Expand Up @@ -1203,10 +1212,10 @@
<plugin>picknik_mujoco_ros/MujocoSystem</plugin>
<param name="mujoco_model">$(arg mujoco_model)</param>
<param name="mujoco_model_package">$(arg mujoco_model_package)</param>
<!-- The rate <camera> data is published at -->
<param name="render_publish_rate">10</param>
<!-- The rate point clouds generated from depth images are published at -->
<param name="point_cloud_publish_rate">$(arg point_cloud_publish_rate)</param>
<!-- The rate <camera> data is published at. Zero switches MuJoCo's cameras off: the image timer is only created for a non-zero rate. -->
<param name="render_publish_rate">${10 if mujoco_cameras else 0}</param>
<!-- The rate point clouds generated from depth images are published at. Zero for the same reason, and it follows the render rate rather than standing alone: the cloud timer publishes what the render timer produced, so against a stopped renderer it would report every camera as never having rendered. Nyx has no depth output, so selecting it gives up point clouds. -->
<param name="point_cloud_publish_rate">${$(arg point_cloud_publish_rate) if mujoco_cameras else 0}</param>
<!-- The rate transforms to <site> poses are published at -->
<param name="tf_publish_rate">60</param>
<!-- The rate <rangefinder> data is published at -->
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24 changes: 24 additions & 0 deletions src/lab_sim/launch/runtime.launch.xml
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Expand Up @@ -3,4 +3,28 @@
<include
file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
/>

<!-- Nyx path-traced cameras, started only when this config asks for them. The same
MOVEIT_PRO_CAMERA_RENDERER the robot description reads to set the MuJoCo camera rate:
mujoco MuJoCo cameras only. The default, and the only option on an image carrying no Nyx
runtime, which is every arm64 image and the amd64 CPU image.
nyx Nyx only, on <camera>/nyx_color. MuJoCo's camera and point-cloud rates go to 0.
both Both, on their own topics, at the cost of running two renderers.
Nyx needs a scene exported ahead of time with nyx_export_scene; see
src/nyx_renderer/README.md in moveit_pro. The node reports a missing scene and exits. -->
<let
name="camera_renderer"
value="$(env MOVEIT_PRO_CAMERA_RENDERER mujoco)"
/>
<include
file="$(find-pkg-share picknik_nyx_renderer)/launch/nyx_camera.launch.py"
if="$(eval '&quot;$(var camera_renderer)&quot; in (&quot;nyx&quot;, &quot;both&quot;)')"
>
<arg name="mjcf" value="$(find-pkg-share lab_sim)/description/scene.xml" />
<arg
name="scene_dir"
value="$(env USER_WS $(env HOME)/user_ws)/.nyx_scenes/lab_sim"
/>
<arg name="camera" value="scene_camera" />
</include>
</launch>
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