Firmware
Firmware is packaged as:
x86-64 case - .run installer with binary deb packages and OS tweaks, communicating with 3rd party rosnodes through the ROS1 protocol
arm64 Jetson case - docker image with binaries communicating with 3rd party rosnodes through the ROS1 protocol
Available Data
A SenseKit consumes ROS data from camera including depth, RGB, calibration and geometric relationships. No specific data is shared for 3rd party by SenseKit but the same data it uses is available also for 3rd party using ROS interfaces.
Sensor settings may be configured using AMAS (sensor dependent).
Interfacing New Sensors
For unsupported sensors, the process may require custom work.
Requirements for sensor's ROS driver
The minimum to integrate new sensor is ROS driver with:
color topic (RGB) and camera_info
typically
image_rawandcamera_infotopics
depth topic (2D range image) and camera_info
typically
image_rawandcamera_infotopicsdepth in 16 bit unsigned mm range format (also called OpenNI)
tf2 geometric relationship data between depth/color subsensors (extrinsics)
typically camera has depth and color subsensors
Integration process
Typically integrating a new sensor requires (assuming ROS driver exists):
writing sensor specific ROS launchfiles
for streaming services
for calibration services
ensuring optical distortion models used by the sensor are supported
ensuring reasonable data workflow
decoupling ROS data from compression may be necessary
image republish node(lets) may be used
ensuring compatibility with custom compression (image transports)
support for sensor image pixel format may be added as needed
ensuring Depth/RGB synchronization is within tolerance
typically driver specific settings