Pull request #206: fix: The docker build was missing the mobile_sensor deps

Merge in MOCTRL/franka_ros2 from fix-missed-mobile-sensor-deps to jazzy

* commit '57bc9031361b4dfaa1daff053c34568a1ebcf7ac':
  docs: Added docu link to the 'mobile_sensors' package
  add: docu for franka_mobile_sensors package
  fix: franka_mobile_sensors formatting and linting issues
  fix: The docker build was missing the mobile_sensor deps

Author: AndreasKuhner

dependency.repos

@@ -11,3 +11,7 @@ repositories:
     type: git
     url: https://github.com/ros-controls/gz_ros2_control.git
     version: jazzy
+  olvx_descriptions_module:
+    type: git
+    url: https://github.com/olive-robotics/olvx_descriptions_module.git
+    version: main

docs/index.rst

@@ -10,8 +10,9 @@ franka_ros2
    ../franka_semantic_components/doc/index
    ../franka_gripper/doc/index
    ../franka_robot_state_broadcaster/doc/index
+   ../franka_mobile_sensors/doc/index
    ../franka_fr3_moveit_config/doc/index
    ../franka_gazebo_bringup/doc/index
    ../franka_msgs/doc/index
    ../franka_ros2/doc/compatibility_matrix
-   ../franka_selfcollision/doc/index
+   ../franka_selfcollision/doc/index

franka_mobile_sensors/CMakeLists.txt

@@ -4,7 +4,7 @@ project(franka_mobile_sensors)
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY launch config rviz robots
+  DIRECTORY launch config rviz robots doc
   DESTINATION share/${PROJECT_NAME}
 )
 

franka_mobile_sensors/COLCON_IGNORE

@@ -0,0 +1,87 @@
+franka_mobile_sensors
+=====================
+
+Package Overview
+----------------
+
+This package contains launch files and run-time configurations for using sensors on Franka Robotics mobile research robots.
+It provides integration for:
+
+* **RealSense Cameras** - Intel RealSense depth cameras (D455)
+* **SICK Safety Scanners** - SICK nanoScan3 safety lidars
+* **Olive Robotics IMU** - Olive Robotics olixSense X1 IMU
+
+The package handles sensor configuration, driver launching, and RViz visualization for the complete sensor suite.
+
+Usage
+-----
+
+Launch the complete sensor suite with::
+
+    ros2 launch franka_mobile_sensors franka_mobile_sensors.launch.py \
+      robot_type:=<robot_type> \
+      config_file:=<config_name>
+
+Launch Arguments
+^^^^^^^^^^^^^^^^
+
+* ``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 sensors are used
+
+This file specifies:
+
+* List of cameras with their device profiles
+* List of lidars with their device profiles
+* Network configurations
+* Sensor placement and mounting parameters
+
+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_nanoscan3.yaml`` - SICK nanoScan3 parameters
+
+Custom Configurations
+^^^^^^^^^^^^^^^^^^^^^
+
+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``
+
+Example
+-------
+
+To launch only cameras without lidars and RViz::
+
+    ros2 launch franka_mobile_sensors franka_mobile_sensors.launch.py \
+      start_cameras:=true \
+      start_lidars:=false \
+      start_rviz:=false
+
+To use a custom sensor configuration::
+
+    ros2 launch franka_mobile_sensors franka_mobile_sensors.launch.py \
+      config_file:=my_custom_suite \
+      robot_type:=tmrv0_2

franka_mobile_sensors/README.md

@@ -12,87 +12,102 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 
-import sys
-from pathlib import Path
 from dataclasses import dataclass, field
-from typing import List, Dict
+from pathlib import Path
+import sys
+from typing import Dict, List
 
 # Add utils to path for shared utilities
 current_dir = Path(__file__).parent
 sys.path.append(str(current_dir.parent / 'utils'))
-from config_loader import load_yaml_config
+
+from config_loader import load_yaml_config  # noqa: E402
 
 
 @dataclass(frozen=True)
 class CameraConfig:
     """Configuration for a single camera."""
+
     name: str
     namespace: str
-    device_profile: str 
-    serial_number: str = None 
-    usb_port: str = None   
+    device_profile: str
+    serial_number: str = None
+    usb_port: str = None
 
     @property
     def node_name(self) -> str:
-        return f"{self.name}_node"
+        return f'{self.name}_node'
 
     @classmethod
     def from_dict(cls, data: Dict) -> 'CameraConfig':
         return cls(
             name=data['name'],
             namespace=data['namespace'],
             device_profile=data['device_profile'],
-            serial_number=data.get('serial_number'),  
-            usb_port=data.get('usb_port'),    
+            serial_number=data.get('serial_number'),
+            usb_port=data.get('usb_port'),
         )
-        
+
     def load_camera_parameters(self) -> Dict:
-        """Load camera-specific parameters from the device profile file.
-        
-        Returns:
-            Dictionary containing camera-specific parameters
+        """
+        Load camera-specific parameters from the device profile file.
+
+        Returns
+        -------
+        dict
+            Dictionary containing camera-specific parameters.
+
         """
         return load_yaml_config(self.device_profile, subdirectory='cameras')
 
 
 @dataclass(frozen=True)
 class CameraSuite:
     """Configuration for all cameras."""
+
     name: str
     description: str
     cameras: List[CameraConfig] = field(default_factory=list)
-    
+
     def __post_init__(self):
         """Validate camera configuration after initialization."""
         camera_names = [cam.name for cam in self.cameras]
-        serial_numbers = [cam.serial_number for cam in self.cameras if cam.serial_number is not None]
-        usb_ports = [cam.usb_port for cam in self.cameras if cam.usb_port is not None]
-        
+        serial_numbers = [
+            cam.serial_number for cam in self.cameras if cam.serial_number is not None]
+        usb_ports = [
+            cam.usb_port for cam in self.cameras if cam.usb_port is not None]
+
         if len(set(camera_names)) != len(camera_names):
-            raise ValueError("Camera names must be unique")
+            raise ValueError('Camera names must be unique')
         if len(set(serial_numbers)) != len(serial_numbers):
-            raise ValueError("Camera serial numbers must be unique")
+            raise ValueError('Camera serial numbers must be unique')
         if len(set(usb_ports)) != len(usb_ports):
-            raise ValueError("Camera USB ports must be unique")
+            raise ValueError('Camera USB ports must be unique')
 
     @classmethod
     def from_dict(cls, data: Dict) -> 'CameraSuite':
-        cameras = [CameraConfig.from_dict(cam_data) for cam_data in data['cameras']]
+        cameras = [CameraConfig.from_dict(cam_data)
+                   for cam_data in data['cameras']]
         return cls(
             name=data['name'],
             description=data['description'],
-            cameras=cameras
-        )
+            cameras=cameras)
 
 
 def load_camera_suite_from_yaml(config_name: str) -> CameraSuite:
-    """Load camera suite configuration from YAML file.
-    
-    Args:
-        config_name: Name of the config file (without .yaml extension)
-        
-    Returns:
-        CameraSuite object loaded from the YAML file
+    """
+    Load camera suite configuration from YAML file.
+
+    Parameters
+    ----------
+    config_name : str
+        Name of the config file (without .yaml extension)
+
+    Returns
+    -------
+    CameraSuite
+        CameraSuite object loaded from the YAML file.
+
     """
     config_data = load_yaml_config(config_name)
-    return CameraSuite.from_dict(config_data)
+    return CameraSuite.from_dict(config_data)