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integration:ros

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Nächste Überarbeitung		Vorhergehende Überarbeitung
integration:ros [2022/07/06 13:26] – [Vicon specific topics] oliverintegration:ros [2022/07/25 09:54] (aktuell) – [Mediapipe specific topics and types] oliver
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 </code> </code>
  
-This configuration is read if in the conext menu of "MeasurementSystems" the entry "Load configuration" is used. Before the masteruri is set to a hardcoded default value. This value is used if the "scan" method is used before "Load Configuration" in invoked.+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:** **The XML-Element <MeasurementSystem> has the following additional properties:**
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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 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====
    
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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 | "q<index>"  | - | REAL | +^ 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 |+^ geometry_msgs.TransformStamped | origin defined as a vector-3d  to describe the pose of a segment. | "v<index>"  | mm | REAL |
  
  
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 </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?==== ====How to add unknown topics?====
 If the message type of the topic is known, integration works with the following steps: If the message type of the topic is known, integration works with the following steps:
  
integration/ros.1657106794.txt.gz · Zuletzt geändert: 2022/07/06 13:26 von oliver
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