ias_unitree_camera

This package publish Unitree Go1 cameras on a ROS network.

Usage

To use this package put it inside a catkin_ws/src and build it (e.g. catkin build).
To start camera node use the unitree_camera.launch file in the following way:

  roslaunch ias_unitree_camera unitree_camera.launch camera_name:=CAMERA_NAME publish_rect_rgb:=true publish_raw_rgb:=false publish_depth:=true publish_pointcloud:=false publish_camera_info:=true

CAMERA_NAME is needed to select the camera you want to start and it is MANDATORY.
The available cameras for the Go1 are {face, chin, left, right, rearDown}.
Be aware of the robot configuration because the cameras are connected to specific PCs and they can be launched only from that computers; for example, in our Go1 configuration face/chin are connected to the first nano (192.168.123.13), left/right are connected to the second one (192.168.123.14) and rearDown are connected to the last nano (192.168.123.15).

Other useful launch params are:

• fps (int) camera fps
• image_width (int) camera width
• image_height (int) camera heigth
• ros_rate (int) rate of message publishing