Adding depth camera to a1_vision_ros1_standalone

Hi!

I am trying to modify the a1_vision_ros1_standalone to publish depth image as well. However, I couldn’t find the ROS publisher for image in it. I guess it is written inside the UnitreeVision library. Does anyone knows exactly where is the location of that library?

Thanks in advance!

The publishers are created in the main unitreevision class
exts/omni.isaac.quadruped/omni/isaac/quadruped/robots/unitree_vision.py

if you look at the og.Controller.edit section you can see how RGB publisher was created and configured.

            (camera_graph, _, _, _) = og.Controller.edit(
                {
                    "graph_path": "/ROS_" + camera[0].split("/")[-1],
                    "evaluator_name": "push",
                    "pipeline_stage": og.GraphPipelineStage.GRAPH_PIPELINE_STAGE_ONDEMAND,
                },
                {
                    keys.CREATE_NODES: [
                        ("OnTick", "omni.graph.action.OnTick"),
                        ("createViewport", "omni.isaac.core_nodes.IsaacCreateViewport"),
                        ("setActiveCamera", "omni.graph.ui.SetActiveViewportCamera"),
                        ("cameraHelperRgb", "omni.isaac." + ros_bridge_version + ros_version + "CameraHelper"),
                        ("cameraHelperInfo", "omni.isaac." + ros_bridge_version + ros_version + "CameraHelper"),
                    ],
                    keys.CONNECT: [
                        ("OnTick.outputs:tick", "createViewport.inputs:execIn"),
                        ("createViewport.outputs:execOut", "setActiveCamera.inputs:execIn"),
                        ("createViewport.outputs:viewport", "setActiveCamera.inputs:viewport"),
                        ("setActiveCamera.outputs:execOut", "cameraHelperRgb.inputs:execIn"),
                        ("setActiveCamera.outputs:execOut", "cameraHelperInfo.inputs:execIn"),
                        ("createViewport.outputs:viewport", "cameraHelperRgb.inputs:viewport"),
                        ("createViewport.outputs:viewport", "cameraHelperInfo.inputs:viewport"),
                    ],
                    keys.SET_VALUES: [
                        ("createViewport.inputs:viewportId", i + self.ros_vp_offset),
                        ("setActiveCamera.inputs:primPath", camera_path),
                        ("cameraHelperRgb.inputs:frameId", camera[0]),
                        ("cameraHelperRgb.inputs:nodeNamespace", "/isaac_a1"),
                        ("cameraHelperRgb.inputs:topicName", "camera_forward" + camera[0] + "/rgb"),
                        ("cameraHelperRgb.inputs:type", "rgb"),
                        ("cameraHelperInfo.inputs:frameId", camera[0]),
                        ("cameraHelperInfo.inputs:nodeNamespace", "/isaac_a1"),
                        ("cameraHelperInfo.inputs:topicName", camera[0] + "/camera_info"),
                        ("cameraHelperInfo.inputs:type", "camera_info"),
                    ],
                },
            )

Thanks! it works!

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