Fix Realsense Camera Resolution #41
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hello-amal
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@hello-vinitha This PR is now ready for review. Can you test this on your Stretch, which didn't have the bug, to verify that it doesn't break anything? |
hello-vinitha
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May 21, 2024
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Description
Due to updates in
librealsenseand the camera firmware, some of the RealSense camera parameters have changed (see more details here). This PR brings the web teleop interface up-to-date with these changes.NOTE: This PR requires the one-line change from here. Until that is merged in, I'd suggest modifying building
realsense_rosfrom source and manually adding that change.Testing
masterbranch of this repo. Rebuild. Launch the web app (i.e.,colcon_cd stretch_web_teleop; ./launch_interface.sh). Verify that the gripper RGB image is zoomed in (e.g., the gripper is not visible in the rendered image).ros2 topic echo /gripper_camera/image_raw | grep width. Verify that it is 848.bugfix/multi_camera_launch). Rebuild. Launch the web app. Verify that the gripper RGB image is not zoomed in (e.g., the gripper is visible in the rendered image).ros2 topic echo /gripper_camera/image_raw | grep width. Verify that it is 480.bugfix/multi_camera_launch). Rebuild. Launch the web app. Verify that the gripper RGB image is not zoomed in (e.g., the gripper is visible in the rendered image).ros2 topic echo /gripper_camera/image_raw | grep width. Verify that it is 480.