ROBORAPID v2.3
Ready
ROS 2 Jazzy
Robot UR5e
Camera Viewport
Wrist Camera · RGB-D (Eye-in-Hand) /cam_wrist/color/image_raw
TF2: tool0 → cam_wrist_color_optical_frame | Z_mean: 0.312 m Probe: hover image
Overhead Camera · RGB-D (Eye-to-Hand) /cam_overhead/color/image_raw
TF2: base_link → cam_overhead_color_optical_frame | Z_mean: 0.918 m Probe: hover image
Captured Camera & Robot Telemetry Stream 0 synchronized frames (Dual RGB-D + 6-DoF Joint/TCP state)
TOTAL CAPTURED FRAMES
0
CAMERA STREAMS SYNCED
2 × RGB-D
MEAN DEPTH (ARM / CELL)
0.31m / 0.92m
DATASET SCHEMA
lerobot_v2

Captured Camera Images & Robot Telemetry Records

Frame ID Wrist (cam_wrist) Overhead (cam_overhead) Trigger / Skill Joints J1..J6 (deg) TCP Pose (X, Y, Z m) Depth Mean (Arm / Cell) Status

Frame Preview & Dataset Manifest No frame selected

Live LeRobot v2 / RLDS manifest · lerobot_v2

Configure Model Provider

Attributes are strictly differentiated by Execution Mode (External API Endpoint vs. Local On-Premises Runtime).
EXTERNAL API ENDPOINT

External API Endpoint Configuration (Cloud / Remote HTTPS & gRPC) mode: external_endpoint

Applicable exclusively to External API Endpoints. Local on-premises weight paths, local engine selectors, CUDA device bindings, and VRAM sliders are excluded in this mode.

Common Multimodal Inference & Sampling Parameters

Provider Request Envelope Preview

HTTP POST
Select a provider and click "Test Provider" to inspect the formatted request envelope.

Provider Result / Response Preview

200 OK
Simulated provider response & parsed RoboRapid Policy-as-Code / WAM output will appear here.

1. ROS 2 Profile Identity, Distribution & Node Lifecycle

All fields are pre-filled from the selected ROS 2 distribution and robot embodiment template.
ACTIVE PROFILE

2. DDS Middleware (`RMW_IMPLEMENTATION`), Discovery & Network Transport

3. `ros2_control` Controller Manager, Action Servers & Robot Hardware

4. MoveIt 2 `move_group` Pipeline & Kinematics (`kinematics.yaml`)

5. MoveIt Servo Real-Time Cartesian Twist & WAM Action Streaming

6. TF2 Coordinate Frames, Topics, QoS & Generated ROS 2 Bundle

Configure Wrist camera (Eye-in-Hand · cam_wrist)

ROS 2 Valid
Role: Wrist (Eye-in-Hand) · Mounted to robot tool flange (`tool0`) · Close-range precision RGB-D

1. Device & ROS 2 Driver ros2 launch realsense2_camera rs_launch.py

Select the ROS 2 camera driver package and hardware sensor model. Stream profiles, optical controls, and depth ranges automatically adapt to the physical sensor capabilities.

2. ROS 2 Node & Derived Topic / Frame Naming

In ROS 2 (`realsense2_camera` v4+, `orbbec_camera`, `zed_wrapper`), topic names and TF frame IDs are deterministically derived from `camera_namespace` and `camera_name` rather than hand-typed per stream.
/cam_wrist · cam_wrist_link → cam_wrist_color_optical_frame

3. Stream Profiles (`rgb_camera.color_profile` / `depth_module.depth_profile`) Continuous Streaming

Resolutions and frame rates are restricted to hardware-validated sensor profiles so the ROS 2 driver never silently falls back to uncalibrated defaults.

4. Exposure, Emitter & Depth Range (`clip_distance`) Sensor spec: 0.07 – 0.50 m

ℹ No IR Projector on Intel RealSense D405: The D405 uses high-precision sub-mm stereo with an IR-cut filter and relies on ambient/LED cell lighting (7–50 cm range). `emitter_enabled` and `laser_power` are automatically omitted.

5. Intrinsics & Distortion (`sensor_msgs/msg/CameraInfo`) header.frame_id: cam_wrist_color_optical_frame

ROS `CameraInfo` uses standard `distortion_model` identifiers (`plumb_bob`, `rational_polynomial`, `equidistant`) and publishes coordinates in the camera's `_optical_frame`.

6. Mounting & Hand-Eye Extrinsics (TF2 Single Source of Truth) EYE_IN_HAND

Define the physical mount `parent_frame → <camera_name>_link` in REP 103 body axes (+X forward, +Y left, +Z up). The camera driver broadcasts `<camera_name>_link → *_optical_frame` (+Z forward, +X right, +Y down), preventing duplicate TF parent conflicts.
TF2 Chain: tool0 → cam_wrist_link [xyz=(0.045, 0.000, 0.035)m, rpy=(0.0°, -90.0°, 0.0°)] → cam_wrist_color_optical_frame (REP 103 optical: rpy=(-90°, 0°, -90°))

7. Validation & Generated ROS 2 Configuration 


        

      

    

  


  
  
  
  

    


      
      
      
      

      
      

      
      


      
      

        

          

            
            
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