Unet launch file

.gitignore

@@ -1,5 +1,5 @@
 # VSCode
-.vscode/*
+.vscode/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json

perception_setup/launch/camera_info_pub.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import CameraInfo, Image
+
+
+class CameraInfoPublisher(Node):
+    def __init__(self):
+        super().__init__('gripper_camera_info_publisher')
+
+        # --- Example camera intrinsics (change these for your camera) ---
+        self.width = 720
+        self.height = 540
+        fx = 500.0
+        fy = 500.0
+        cx = self.width / 2.0
+        cy = self.height / 2.0
+
+        # Prepare static camera info message
+        self.camera_info_msg = CameraInfo()
+        self.camera_info_msg.header.frame_id = 'gripper_camera'
+        self.camera_info_msg.width = self.width
+        self.camera_info_msg.height = self.height
+
+        # Intrinsic matrix K
+        self.camera_info_msg.k = [fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0]
+
+        # Projection matrix P
+        self.camera_info_msg.p = [
+            fx,
+            0.0,
+            cx,
+            0.0,
+            0.0,
+            fy,
+            cy,
+            0.0,
+            0.0,
+            0.0,
+            1.0,
+            0.0,
+        ]
+
+        # Rectification matrix (identity)
+        self.camera_info_msg.r = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+
+        # Distortion (none)
+        self.camera_info_msg.d = [0.0, 0.0, 0.0, 0.0, 0.0]
+        self.camera_info_msg.distortion_model = 'plumb_bob'
+
+        # Publisher and subscriber
+        self.publisher_ = self.create_publisher(
+            CameraInfo, '/gripper_camera/camera_info', 10
+        )
+        self.subscription = self.create_subscription(
+            Image, '/gripper_camera/image_raw', self.image_callback, 10
+        )
+
+        self.get_logger().info(
+            'Subscribing to /gripper_camera/image_raw and publishing synchronized /gripper_camera/camera_info'
+        )
+
+    def image_callback(self, msg: Image):
+        """Called whenever a new image arrives."""
+        self.camera_info_msg.header.stamp = msg.header.stamp
+        self.publisher_.publish(self.camera_info_msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CameraInfoPublisher()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()