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

It belongs to the ROS namespace: /niryo_robot_vision/.

Parameters - Vision¶

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

Publisher - Vision¶

Vision Package’s Publishers¶
Name	Message Type	Description
`compressed_video_stream`	sensor_msgs/CompressedImage	Publishes the last image read as a compressed image
`video_stream_parameters`	ImageParameters	Publishes the brightness, contrast and saturation settings of the video stream

Services - Vision¶

Programs manager Services¶
Name	Message Type	Description
`debug_colors`	DebugColorDetection	Returns an annotated image to emphasize what happened with color detection
`debug_markers`	DebugMarkers	Returns an annotated image to emphasize what happened with markers detection
`obj_detection_rel`	ObjDetection	Object detection service
`start_stop_video_streaming`	SetBool	Starts or stops video streaming
`take_picture`	TakePicture	Saves a picture in the specified folder
`set_brightness`	SetImageParameter	Sets the brightness of the video stream
`set_contrast`	SetImageParameter	Sets the contrast of the video stream
`set_saturation`	SetImageParameter	Sets the saturation of the video stream
`visualization`	Visualization	Add visuals markers of objects detected by the vision kit to rviz

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

Dependencies - Vision¶

Topics files - Vision¶

ImageParameters (Topic)¶

float64 brightness_factor
float64 contrast_factor
float64 saturation_factor

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

SetImageParameter (Service)¶

float64 factor
---
int32 status
string message

Visualization (Service)¶

string workspace
bool clearing
---
int32 status