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integration:ros

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integration:ros [2020/11/18 10:04] – [Vicon specific topics] oliverintegration:ros [2022/07/11 09:49] – [Mediapipe specific topics and types] oliver
Zeile 18: Zeile 18:
 </code> </code>
  
-**The <MeasurementSystem>-element has the following additional properties:**+This configuration is read, if in the conext menu of "MeasurementSystems" the entry "Load configuration" is invoked. Before, the __masteruri__ is set to a hardcoded default value. This default value is used, if the "scan" method is invoked before "Load Configuration". 
 + 
 +**The XML-Element <MeasurementSystem> has the following additional properties:**
  
 ^ Property name ^ Description ^ Optional | ^ Property name ^ Description ^ Optional |
-^ masteruri| The ip of the ROS master. | No | +^ masteruri| The ip adress of the ROS master. | No | 
-^ localhost| The ip of the networkinterface used to connecto to the ROS master. Without using it, a default value is determined automatically which can result in the wrong ip, if more than one network adapters are available.  | Yes |+^ localhost| The ip adress of the networkinterface used to connect to the ROS master. Without using it, a default value is determined automatically which can result in the wrong ip, if more than one network adapters are available.  | Yes | 
 + 
 +If the environment variable ROS_IP on the (remote) PC running ROS is not set it sends the name of this PC instead the IP and it can happen, that the PC running JDAQ can not resolve this name into the IP adress back again. As a workaround you can assign the IP adress to this host name in the /etc/hostname file.
  
 **The <TransducerUnitGroup>-element can have the following specific property element children:** **The <TransducerUnitGroup>-element can have the following specific property element children:**
Zeile 49: Zeile 53:
 ^ ur_rtde_msgs.JointTemperature| Temperatures in 6 segments of an UR-robot. | "URt<index>" and "URtT" for the timestamps | °C | REAL | ^ ur_rtde_msgs.JointTemperature| Temperatures in 6 segments of an UR-robot. | "URt<index>" and "URtT" for the timestamps | °C | REAL |
 ^ ur_rtde_msgs.JointPosition| Joint angles for 6 segments of an UR-robot. | "URAngle<index>" and "URAngleT" for the timestamps | rad| REAL | ^ ur_rtde_msgs.JointPosition| Joint angles for 6 segments of an UR-robot. | "URAngle<index>" and "URAngleT" for the timestamps | rad| REAL |
-** + 
-Example configuration fragment:**+**Example configuration fragment:**
  
 <code xml> <code xml>
Zeile 78: Zeile 82:
 A Vicon markerbased motion analysis system can be integrated via ROS by usage of a "Vicon-ROS-bridge".  A Vicon markerbased motion analysis system can be integrated via ROS by usage of a "Vicon-ROS-bridge". 
  
-Example configuration fragment:+^ Topic type ^ Description ^ Channel name ^ Unit ^ Type ^ 
 +^ geometry_msgs.TransformStamped | Orientation defined by an quaternion to describe the pose of a segment | "q<index>"  | - | REAL | 
 +^ geometry_msgs.TransformStamped | origin defined as a vector-3d  to describe the pose of a segment. | "v<index>"  | mm | REAL | 
 + 
 + 
 +**Example configuration fragment:**
  
 <code xml> <code xml>
Zeile 114: Zeile 123:
 </MeasurementProcess> </MeasurementProcess>
 </code> </code>
 +
 +====Mediapipe specific topics and types ====
 +
 +^ Topic Type ^ Topic ^ Description ^ Unit ^
 +^ geometry_msgs.PoseArray | /mediapipe_poses/BLAZE | All positions of the Blazepose model. | mm |
 +**
 +Example configuration fragment:**
 +
 +<code xml>
 +<MeasurementProcess name="Ergobot Measurement">
 +
 +    <!-- Proprietaere Properties muessen als Property-Element eingefuegt werden -->
 +    <MeasurementSystem id="default" system="ROS" fileSuffix="r3d">
 +        <Property name="localhost" value="192.168.10.101"/>
 +        <Property name="masteruri" value="http://192.168.10.2:11311"/>
 +        <TransducerUnitGroup name="mediapipe_poses" displayName="Mediapipe">
 +            
 +            <TransducerUnit name="BLAZE" displayName="Blaze" sampleRate="10">
 +
 +                <Property name="timestampsMethod" value="rosheader"/>
 +                
 +                <Channel name="nose_X"/>
 +                <Channel name="nose_Y"/>
 +                <Channel name="nose_Z"/>
 +                
 +                <Channel name="left_eye_inner_X"/>
 +                <Channel name="left_eye_inner_Y"/>
 +                <Channel name="left_eye_inner_Z"/>
 +
 +                <Channel name="left_eye_X"/>
 +                <Channel name="left_eye_Y"/>
 +                <Channel name="left_eye_Z"/>
 +        
 +                <Channel name="left_eye_outer_X"/>
 +                <Channel name="left_eye_outer_Y"/>
 +                <Channel name="left_eye_outer_Z"/>
 +       
 +                <Channel name="right_eye_inner_X"/>
 +                <Channel name="right_eye_inner_Y"/>
 +                <Channel name="right_eye_inner_Z"/>
 +        
 +                <Channel name="right_eye_X"/>
 +                <Channel name="right_eye_Y"/>
 +                <Channel name="right_eye_Z"/>
 +       
 +                <Channel name="right_eye_outer_X"/>
 +                <Channel name="right_eye_outer_Y"/>
 +                <Channel name="right_eye_outer_Z"/>
 +       
 +                <Channel name="left_ear_X"/>
 +                <Channel name="left_ear_Y"/>
 +                <Channel name="left_ear_Z"/>
 +       
 +                <Channel name="right_ear_X"/>
 +                <Channel name="right_ear_Y"/>
 +                <Channel name="right_ear_Z"/>
 +       
 +                <Channel name="mouth_left_X"/>
 +                <Channel name="mouth_left_Y"/>
 +                <Channel name="moutn_left_Z"/>
 +        
 +                <Channel name="mouth_right_X"/>
 +                <Channel name="mouth_right_Y"/>
 +                <Channel name="moutn_right_Z"/>
 +        
 +                <Channel name="left_shoulder_X"/>
 +                <Channel name="left_shoulder_Y"/>
 +                <Channel name="left_shoulder_Z"/>
 +        
 +                <Channel name="right_shoulder_X"/>
 +                <Channel name="right_shoulder_Y"/>
 +                <Channel name="right_shoulder_Z"/>
 +        
 +                <Channel name="left_elbow_X"/>
 +                <Channel name="left_elbow_Y"/>
 +                <Channel name="left_elbow_Z"/>
 +        
 +                <Channel name="right_elbow_X"/>
 +                <Channel name="right_elbow_Y"/>
 +                <Channel name="right_elbow_Z"/>
 +        
 +                <Channel name="left_wrist_X"/>
 +                <Channel name="left_wrist_Y"/>
 +                <Channel name="left_wrist_Z"/>
 +        
 +                <Channel name="right_wrist_X"/>
 +                <Channel name="right_wrist_Y"/>
 +                <Channel name="right_wrist_Z"/>
 +       
 +                <Channel name="left_pinky_X"/>
 +                <Channel name="left_pinky_Y"/>
 +                <Channel name="left_pinky_Z"/>
 +       
 +                <Channel name="right_pinky_X"/>
 +                <Channel name="right_pinky_Y"/>
 +                <Channel name="right_pinky_Z"/>
 +       
 +                <Channel name="left_index_X"/>
 +                <Channel name="left_index_Y"/>
 +                <Channel name="left_index_Z"/>
 +       
 +                <Channel name="right_index_X"/>
 +                <Channel name="right_index_Y"/>
 +                <Channel name="right_index_Z"/>
 +        
 +                <Channel name="left_thumb_X"/>
 +                <Channel name="left_thumb_Y"/>
 +                <Channel name="left_thumb_Z"/>
 +        
 +                <Channel name="right_thumb_X"/>
 +                <Channel name="right_thumb_Y"/>
 +                <Channel name="right_thumb_Z"/>
 +       
 +                <Channel name="left_hip_X"/>
 +                <Channel name="left_hip_Y"/>
 +                <Channel name="left_hip_Z"/>
 +       
 +                <Channel name="right_hip_X"/>
 +                <Channel name="right_hip_Y"/>
 +                <Channel name="right_hip_Z"/>
 +       
 +                <Channel name="left_knee_X"/>
 +                <Channel name="left_knee_Y"/>
 +                <Channel name="left_knee_Z"/>
 +        
 +                <Channel name="right_knee_X"/>
 +                <Channel name="right_knee_Y"/>
 +                <Channel name="right_knee_Z"/>
 +       
 +                <Channel name="left_ankle_X"/>
 +                <Channel name="left_ankle_Y"/>
 +                <Channel name="left_ankle_Z"/>
 +       
 +                <Channel name="right_ankle_X"/>
 +                <Channel name="right_ankle_Y"/>
 +                <Channel name="right_ankle_Z"/>
 +       
 +                <Channel name="left_heel_X"/>
 +                <Channel name="left_heel_Y"/>
 +                <Channel name="left_heel_Z"/>
 +       
 +                <Channel name="right_heel_X"/>
 +                <Channel name="right_heel_Y"/>
 +                <Channel name="right_heel_Z"/>
 +       
 +                <Channel name="left_foot_index_X"/>
 +                <Channel name="left_foot_index_Y"/>
 +                <Channel name="left_foot_index_Z"/>
 +       
 +                <Channel name="right_foot_index_X"/>
 +                <Channel name="right_foot_index_Y"/>
 +                <Channel name="right_foot_index_Z"/>
 +                <Channel name="T"/>
 +                
 +            </TransducerUnit>
 +        </TransducerUnitGroup>
 +        
 +    </MeasurementSystem>
 +    ...
 +</MeasurementProcess>
 +<code xml>
 +</code>
 +====How to add unknown topics?====
 +If the message type of the topic is known, integration works with the following steps:
 +
integration/ros.txt · Zuletzt geändert: 2022/07/25 09:54 von oliver
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