franka_mobile_sensors

Package Overview

This package contains launch files and run-time configurations for using sensors on Franka Robotics mobile research robots. It provides integration for:

  • RealSense Cameras - Intel RealSense depth cameras (D455)

  • SICK Safety Scanners - SICK nanoScan3 safety lidars

  • Olive Robotics IMU - Olive Robotics olixSense X1 IMU

The package handles sensor configuration, driver launching, and RViz visualization for the complete sensor suite.

Usage

Launch the complete sensor suite with:

ros2 launch franka_mobile_sensors franka_mobile_sensors.launch.py \
  robot_type:=<robot_type> \
  config_file:=<config_name>

Launch Arguments

  • start_cameras (default: true) - Start RealSense camera drivers

  • start_lidars (default: true) - Start SICK safety scanner drivers

  • start_rviz (default: true) - Start RViz visualization

  • robot_type (default: tmrv0_2) - ID of the robot type for visualization

  • config_file (default: default_sensor_suite) - Sensor suite configuration (without .yaml extension)

Configuration

Sensor Suite Configuration

The main sensor suite is configured in:

  • config/default_sensor_suite.yaml - Defines which sensors are used

This file specifies:

  • List of cameras with their device profiles

  • List of lidars with their device profiles

  • Network configurations

  • Sensor placement and mounting parameters

Device-Specific Parameters

Individual device parameters are configured in device profile files:

Cameras:

  • config/cameras/franka_mobile_d455.yaml - RealSense D455 parameters

Lidars:

  • config/lidars/sick_nanoscan3.yaml - SICK nanoScan3 parameters

Custom Configurations

To create a custom configuration:

  1. Copy config/default_sensor_suite.yaml to config/my_custom_suite.yaml

  2. Modify camera/lidar lists and reference existing or new device profiles

  3. Launch with: config_file:=my_custom_suite

Example

To launch only cameras without lidars and RViz:

ros2 launch franka_mobile_sensors franka_mobile_sensors.launch.py \
  start_cameras:=true \
  start_lidars:=false \
  start_rviz:=false

To use a custom sensor configuration:

ros2 launch franka_mobile_sensors franka_mobile_sensors.launch.py \
  config_file:=my_custom_suite \
  robot_type:=tmrv0_2