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… node, and updating robot description generation.
…k topic to rc_vel, modify low-level controller node parameters, and uncomment relevant nodes in launch description.
…uding necessary nodes and configurations for simulation environment.
…unch configuration.
…amera', change pixel format to 'RGB8', and modify serial number for Jetson. Add image processing container for RGB camera.
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Pull Request Overview
This PR cleans up obsolete launch files, standardizes the RGB camera pipeline for SMB264 on Jetson, and updates related configuration and installation.
- Removed legacy and redundant launch scripts (e.g.,
smb_nuc_system,smb,motor_controller,jetson_rgb_camera,flir_camera). - Refactored
sensors.launch.pyto only include the RGB camera group and animage_proccontainer, and updated the camera serial for Jetson. - Enhanced
rgb_camera_driver.launch.pywith dynamic calibration file lookup, updated default camera name/serial, and adjusted image parameters. - Updated camera YAMLs to reflect new
camera_name, added atwist_mux_topics.yamlconfig, and extended CMake install to includerviz.
Reviewed Changes
Copilot reviewed 11 out of 12 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| launch/sensors.launch.py | Kept only RGB camera group and image_proc container, updated serial |
| launch/rgb_camera_driver.launch.py | Added dynamic calibration file logic, updated defaults and pixel format |
| config/smb264_cam0.yaml | Changed camera_name from 0 to rgb_camera |
| config/smb261_cam0.yaml | Changed camera_name from 0 to flir_camera |
| config/twist_mux_topics.yaml | New twist mux topic configuration |
| CMakeLists.txt | Added rviz directory to install target |
| launch/*.launch.py (5 files) | Removed obsolete launch scripts |
Comments suppressed due to low confidence (4)
launch/sensors.launch.py:26
- ComposableNodeContainer and ComposableNode are used here but not imported; add
from launch_ros.actions import ComposableNodeContainerandfrom launch_ros.descriptions import ComposableNodeto prevent runtime errors.
container = ComposableNodeContainer(
launch/sensors.launch.py:13
- [nitpick] There are large blocks of commented-out code above; consider removing legacy comments or moving them to a separate branch to keep this file concise and maintainable.
rgb_camera_group = GroupAction([
launch/rgb_camera_driver.launch.py:22
- [nitpick] The
PythonExpressionimport is not used in this file; removing unused imports can improve readability.
from launch.substitutions import PathJoinSubstitution, PythonExpression
CMakeLists.txt:15
- Ensure that the
rvizdirectory exists in the project before installing; otherwise CMake will warn about a missing directory.
rviz
NileshBalu
requested changes
Jun 23, 2025
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This rviz line gives an error while building on the jetson
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shouldn't this file be renamed with subscript jetson?
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