Niryo_robot_vision¶

This package is the one dealing with all vision related stuff.

Vision Node¶

The ROS Node is made of several services to deal with video streaming, object detection… The node is working exactly the same way if you chose to use it on simulation or reality.

This node can be launched locally in a standalone mode via the command:

roslaunch niryo_robot_vision vision_node_local.launch

Configuration (Frame Per Second, Camera Port, Video Resolution) can be edited in the config file:

For “standard” Node: niryo_robot_vision/config/video_server_setup.yaml

For local Node: niryo_robot_vision/config/video_server_setup_local.yaml

The namespace used is: /niryo_robot_vision/

Parameters - Vision¶

Vision Package’s Parameters¶
Name	Description
`frame_rate`	Stream frame rate
`simulation_mode`	Set to true if you are using the gazebo simulation. It will adapt how the node get its video stream
`debug_compression_quality`	Debug Stream compression quality
`stream_compression_quality`	Stream compression quality
`subsampling`	Stream subsampling factor

Publisher - Vision¶

Vision Package’s Publishers¶
Name	Message Type	Description
`compressed_video_stream`	sensor_msgs/CompressedImage	Publish the last image read as a compressed image

Services - Vision¶

Programs manager Services¶
Name	Message Type	Description
`debug_colors`	DebugColorDetection	Return an annotated image to emphasize what happened with color detection
`debug_markers`	DebugMarkers	Return an annotated image to emphasize what happened with markers detection
`obj_detection_rel`	ObjDetection	Object detection service
`start_stop_video_streaming`	SetBool	Start or Stop video streaming
`take_picture`	TakePicture	Save a picture in the specified folder

All these services are available as soon as the node is started.

Dependencies - Vision¶

Services files - Vision¶

DebugColorDetection (Service)¶

string color
---
sensor_msgs/CompressedImage img

DebugMarkers (Service)¶

---
bool markers_detected
sensor_msgs/CompressedImage img

ObjDetection (Service)¶

string obj_type
string obj_color
float32 workspace_ratio
bool ret_image
---
int32 status

niryo_robot_msgs/ObjectPose obj_pose

string obj_type
string obj_color

sensor_msgs/CompressedImage img

TakePicture (Service)¶

string path
---
bool success