integration:ros
Unterschiede
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Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
integration:ros [2021/08/31 10:53] – [ROS measurement system integration] oliver | integration:ros [2022/07/25 09:54] (aktuell) – [Mediapipe specific topics and types] 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 adress of the ROS master. | No | | ^ masteruri| The ip adress of the ROS master. | No | | ||
- | ^ localhost| The ip adress of the networkinterface used to connecto | + | ^ localhost| The ip adress of the networkinterface used to connect |
+ | |||
+ | 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 < | ||
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^ 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==== | ||
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^ Topic type ^ Description ^ Channel name ^ Unit ^ Type ^ | ^ 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 | Orientation defined by an quaternion to describe the pose of a segment | " |
- | ^ geometry_msgs.TransformStamped>| origin defined as a vector-3d | + | ^ geometry_msgs.TransformStamped | origin defined as a vector-3d |
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</ | </ | ||
</ | </ | ||
+ | |||
+ | ====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, | ||
+ | |||
+ | ===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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+ | < | ||
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+ | < | ||
+ | | ||
+ | <Channel name=" | ||
+ | <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=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
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+ | <Channel name=" | ||
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+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <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=" | ||
+ | | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
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+ | |||
+ | <Channel name=" | ||
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+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
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+ | <Channel name=" | ||
+ | <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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+ | <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.1630399981.txt.gz · Zuletzt geändert: 2021/08/31 10:53 von oliver