integration:ros
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungLetzte ÜberarbeitungBeide Seiten der Revision | ||
integration:ros [2020/11/18 10:05] – [UR specific topics] oliver | integration:ros [2022/07/11 11:32] – [ROS measurement system integration] oliver | ||
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</ | </ | ||
- | **The < | + | This configuration is read, if in the conext menu of " |
+ | |||
+ | **The XML-Element | ||
^ Property name ^ Description ^ Optional | | ^ Property name ^ Description ^ Optional | | ||
- | ^ masteruri| The ip of the ROS master. | No | | + | ^ masteruri| The ip adress |
- | ^ localhost| The ip of the networkinterface used to connecto | + | ^ localhost| The ip adress |
+ | |||
+ | 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 / | ||
**The < | **The < | ||
Zeile 41: | Zeile 45: | ||
^ rosheader | The timestamp from the ROS-header is used.| | ^ rosheader | The timestamp from the ROS-header is used.| | ||
^ autoarrive | As an estimation the time at which a frame arrives JDAQ is used. | | ^ autoarrive | As an estimation the time at which a frame arrives JDAQ is used. | | ||
- | ^ autofix | The configured sample rate is used as a basis and it is assumed | + | ^ autofix | From the configured sample rate delata_T |
====UR specific topics==== | ====UR specific topics==== | ||
Zeile 78: | Zeile 82: | ||
A Vicon markerbased motion analysis system can be integrated via ROS by usage of a " | A Vicon markerbased motion analysis system can be integrated via ROS by usage of a " | ||
- | 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 | " | ||
+ | ^ geometry_msgs.TransformStamped | origin defined as a vector-3d | ||
+ | |||
+ | |||
+ | **Example configuration fragment:** | ||
<code xml> | <code xml> | ||
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</ | </ | ||
</ | </ | ||
+ | |||
+ | ====Mediapipe specific topics and types ==== | ||
+ | |||
+ | ^ Topic Type ^ Topic ^ Description ^ Unit ^ | ||
+ | ^ geometry_msgs.PoseArray | / | ||
+ | ** | ||
+ | Example configuration fragment:** | ||
+ | |||
+ | <code xml> | ||
+ | < | ||
+ | |||
+ | <!-- Proprietaere Properties muessen als Property-Element eingefuegt werden --> | ||
+ | < | ||
+ | < | ||
+ | < | ||
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+ | <Channel name=" | ||
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+ | <Channel name=" | ||
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+ | <Channel name=" | ||
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+ | <Channel name=" | ||
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+ | <Channel name=" | ||
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+ | | ||
+ | </ | ||
+ | </ | ||
+ | | ||
+ | </ | ||
+ | ... | ||
+ | </ | ||
+ | <code xml> | ||
+ | </ | ||
+ | ====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