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integration:ros [2020/11/18 10:06] – [Vicon specific topics] oliverintegration:ros [2022/07/25 09:54] (aktuell) – [Mediapipe specific topics and types] oliver
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 </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 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 that no frame is lost in the pipleline. |+^ autofix | From the configured sample rate delata_T is determined as 1/(sample rate) and this is added to the previous time(stamp) to determine the current one. This procedure assumes that no frame is lost in the pipleline. This method is used as default.|
 ====UR specific topics==== ====UR specific topics====
    
Zeile 79: Zeile 83:
  
 ^ Topic type ^ Description ^ Channel name ^ Unit ^ Type ^ ^ Topic type ^ Description ^ Channel name ^ Unit ^ Type ^
-ur_rtde_msgs.JointTemperatureTemperatures in 6 segments of an UR-robot. | "URt<index>" and "URtT" for the timestamps °C | REAL | +geometry_msgs.TransformStamped Orientation defined by an quaternion to describe the pose of a segment | "q<index>"  | REAL | 
-ur_rtde_msgs.JointPositionJoint angles for 6 segments of an UR-robot. | "URAngle<index>" and "URAngleT" for the timestamps rad| REAL |+geometry_msgs.TransformStamped origin defined as a vector-3d  to describe the pose of a segment. | "v<index>"  mm | REAL | 
  
 **Example configuration fragment:** **Example configuration fragment:**
Zeile 118: Zeile 123:
 </MeasurementProcess> </MeasurementProcess>
 </code> </code>
 +
 +====Mediapipe ====
 +
 +The BLAZE model of media type includes 33 positions. The coordinates of these positions are defined relativ to the pelvis center of the BLAZE model but given in a coordinate system of the camera with x,y-axes in the picture plane of the camera and z upright to this plane. All coordinates are given in the unit [m].
 +
 +A second set of positions called global positions are determined from the mediapipe raw data as follows: The left corner of the camera defines the origin of a coordinate system. x,y-coordinate given as values between 0 and 1 if the positions are seen from the camera are scales using the hight/width of the camera sensor in pixel.
 +
 +===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.1605690363.txt.gz · Zuletzt geändert: 2020/11/18 10:06 von oliver

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