Niryo robot vision

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

It is made of several services to deal with video streaming, object detection… It also works in simulation with gazebo.

It belongs to the ROS namespace: /niryo_robot_vision.

Package Documentation

Topic Name	Type	Description
/niryo_robot_vision/compressed_video_stream	sensor_msgs/CompressedImage	Publish camera video stream as compressed images
/niryo_robot_vision/visualization_marker	visualization_msgs/MarkerArray	N/A
/rosout	rosgraph_msgs/Log	N/A
/niryo_robot_vision/video_stream_parameters	niryo_robot_vision/ImageParameters	Publish the brightness, contrast and saturation settings of the video stream
/niryo_robot_vision/video_stream_is_active	std_msgs/Bool	Whether the video stream is active or not
/niryo_robot_vision/visualization_marker	visualization_msgs/MarkerArray	Publish visual markers for Rviz
/niryo_robot_vision/camera_intrinsics	sensor_msgs/CameraInfo	Publish camera’s intrinsic parameters

Topic Name	Type	Description
/gazebo_camera/camera_info	sensor_msgs/CameraInfo	N/A

Service Name	Type	Description
/niryo_robot_vision/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_vision/obj_detection_rel	niryo_robot_vision/ObjDetection	N/A
/niryo_robot_vision/set_logger_level	roscpp/SetLoggerLevel	N/A
/niryo_robot_vision/debug_colors	niryo_robot_vision/DebugColorDetection	Get a masked image showing only detected pixels of the given color
/niryo_robot_vision/debug_markers	niryo_robot_vision/DebugMarkers	Get an image highlighting detected markers
/niryo_robot_vision/set_brightness	niryo_robot_vision/SetImageParameter	Set the brightness of the video stream
/niryo_robot_vision/set_contrast	niryo_robot_vision/SetImageParameter	Set the contrast of the video stream
/niryo_robot_vision/set_saturation	niryo_robot_vision/SetImageParameter	Set the saturation of the video stream
/niryo_robot_vision/start_stop_video_streaming	niryo_robot_msgs/SetBool	Start or stop the video stream
/niryo_robot_vision/take_picture	niryo_robot_vision/TakePicture	Take a picture and save it to the corresponding path
/niryo_robot_vision/visualization	niryo_robot_vision/Visualization	Add visuals markers of objects detected by the robot’s camera to Rviz

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_vision/camera_port	-1	N/A	int	Port of the camera
/niryo_robot_vision/debug_compression_quality	70	N/A	percentage	Quality of the debug image compression
/niryo_robot_vision/display	False	N/A	bool	Whether the video stream should be displayed on the computer or not
/niryo_robot_vision/flip_img	True	N/A	bool	Whether the image should be flipped or not
/niryo_robot_vision/frame_rate	15	N/A	Hz	Frame rate of the video stream
/niryo_robot_vision/frame_size	[640, 480]	N/A	pixels	Resolution of the video stream
/niryo_robot_vision/hardware_version	ned2	N/A	string	Hardware version of the robot
/niryo_robot_vision/is_active_rate	2.0	N/A	seconds	Rate at which the video stream is checked to be active
/niryo_robot_vision/log_level	INFO	N/A	N/A	N/A
/niryo_robot_vision/max_restart_time	120.0	N/A	seconds	Maximum time before stopping to restart the video stream
/niryo_robot_vision/obj_calib_name	cam_intrinsics	N/A	string	Calibration yaml file name
/niryo_robot_vision/restart_rate	0.2	N/A	N/A	N/A
/niryo_robot_vision/simulation_mode	True	N/A	bool	Whether the vision node is in simulation mode or not
/niryo_robot_vision/stream_compression_quality	55	N/A	percentage	Quality of the video stream compression
/niryo_robot_vision/subsampling	3	N/A	int	Subsampling factor of the video stream
/niryo_robot_vision/undistort_stream	False	N/A	bool	Whether the video stream should be undistorted or not

Namespace: None