integration:ros
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
integration:ros [2022/07/06 12:58] – oliver | integration:ros [2022/07/25 09:54] (aktuell) – [Mediapipe specific topics and types] oliver | ||
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</ | </ | ||
- | This configuration is read if in the conext menu of " | + | This configuration is read, if in the conext menu of " |
**The XML-Element < | **The XML-Element < | ||
Zeile 45: | 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 83: | Zeile 83: | ||
^ 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 |
Zeile 123: | Zeile 123: | ||
</ | </ | ||
</ | </ | ||
+ | |||
+ | ====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 --> | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | | ||
+ | < | ||
+ | |||
+ | < | ||
+ | | ||
+ | <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=" | ||
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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=" | ||
+ | <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=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | | ||
+ | <Channel name=" | ||
+ | <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=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | | ||
+ | </ | ||
+ | </ | ||
+ | | ||
+ | </ | ||
+ | ... | ||
+ | </ | ||
+ | <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