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feat: capture head and waist RGB-D data

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meiqi
2026-08-10 16:40:00 +08:00
parent 4ba0f63758
commit d02b99d2aa
8 changed files with 388 additions and 16 deletions
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37
tg3_local_teleop/config.toml
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@@ -75,12 +75,21 @@ control_topic = "/tg3/data_collection/control"
status_topic = "/tg3/data_collection/status"
iarm_frame_topic = "/tg3/data_collection/iarm_frame"
base_directory = "/home/nvidia/tg3_data_collection"
minimum_free_gib = 20.0
minimum_free_gib = 100.0
max_duration_seconds = 1800.0
# A camera endpoint merely existing is insufficient: completed episodes must
# also sustain this conservative average rate across the rosbag data span.
# The driver targets 30 Hz; 20 Hz tolerates startup/discovery jitter while
# rejecting a stream that only delivered a few frames or stopped mid-episode.
minimum_topic_rates_hz."/ob_camera_waist/color/image_raw/compressed" = 20.0
minimum_topic_rates_hz."/ob_camera_waist/depth/image_raw/compressedDepth" = 20.0
# Explicit control-data whitelist. Camera images and point clouds are omitted
# by default to bound disk and network load; never replace this with `-a` on the
# live robot. /robot_state is the authoritative measured robot state.
# Explicit data whitelist; never replace this with `-a` on the live robot.
# RGB is recorded through image_transport JPEG and 16UC1 depth through its
# lossless compressedDepth PNG transport. Waist RGB-D is required because that
# camera is enabled on this robot. Head RGB-D stays optional: rosbag discovers
# and records it automatically whenever orbbec_head.service is running.
# /robot_state is the authoritative measured robot state.
topics = [
"/robot_state",
"/encoder_identical_joint",
@@ -100,6 +109,19 @@ topics = [
"/power/board/key_status",
"/power/board/status",
"/power/battery/status",
"/ob_camera_head/color/image_raw/compressed",
"/ob_camera_head/color/camera_info",
"/ob_camera_head/color/metadata",
"/ob_camera_head/depth/image_raw/compressedDepth",
"/ob_camera_head/depth/camera_info",
"/ob_camera_head/depth/metadata",
"/ob_camera_waist/color/image_raw/compressed",
"/ob_camera_waist/color/camera_info",
"/ob_camera_waist/color/metadata",
"/ob_camera_waist/depth/image_raw/compressedDepth",
"/ob_camera_waist/depth/camera_info",
"/ob_camera_waist/depth/metadata",
"/tf_static",
"/tg3/data_collection/control",
"/tg3/data_collection/status",
"/tg3/data_collection/iarm_frame",
@@ -115,6 +137,13 @@ required_topics = [
"/left_hand/motor_status",
"/right_hand/motor_status",
"/hric/robot/rl_state",
"/ob_camera_waist/color/image_raw/compressed",
"/ob_camera_waist/color/camera_info",
"/ob_camera_waist/color/metadata",
"/ob_camera_waist/depth/image_raw/compressedDepth",
"/ob_camera_waist/depth/camera_info",
"/ob_camera_waist/depth/metadata",
"/tf_static",
"/tg3/data_collection/control",
"/tg3/data_collection/status",
"/tg3/data_collection/iarm_frame",