franka_mobile_sensors

ROS 2 package for managing RealSense cameras and SICK safety scanners on Franka Tactile Mobile Robot.

⚠️ Note for Franka Tactile Mobile Robot Users

This package is ignored by colcon by default (via COLCON_IGNORE file). It is only relevant for users of a Franka Tactile Mobile Robot (TMR) or a Franka Mobile FR3 Duo. If you want to enable this package, remove the COLCON_IGNORE file:

# Remove COLCON_IGNORE
rm src/franka_mobile_sensors/COLCON_IGNORE

# Import optional dependencies
vcs import src < src/franka_mobile_sensors/mobile_sensors.repos

# Install package dependencies
sudo apt-get update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build
colcon build --packages-up-to franka_mobile_sensors --symlink-install

Launch

ros2 launch franka_mobile_sensors franka_mobile_sensors.launch.py \
  [start_cameras:=true|false] \
  [start_lidars:=true|false] \
  [start_rviz:=true|false] \
  [robot_type:=<robot_type>] \
  [config_file:=<config_name>] 

Parameters:

• 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 cameras and lidars are used

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_nanoscan2.yaml - SICK nanoScan2 parameters

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