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This package is part of ROS/IOP Bridge.

fkie_iop_visual_sensor: VisualSensor

VisualSensor provides control features and names for sensor ID's of StillImage and DigitalVideo services. For each sensor you can set follow capabilities parameter:

    capabilities:
    - "1":
        - name: front
        - switchable: true
        - zoomable: true
        - pose: 1 2 3 0 0 0 1
        - manipulator: 3.1.60
        - manipulator_joint: 5
        - fov_horizontal: 0
        - fov_vertical: 0

Delete parameter for features which are not provided to disable.

Parameter:

capabilities/ID/name (str (Default: ""))

Name of the sensor.

capabilities/ID/switchable (bool (Default: false))

Enable publisher ID/cmd_pwr_state and subscriber ID/pwr_state to switch the sensor on/off.

capabilities/ID/zoomable (bool (Default: false))

Enable publisher ID/cmd_zoom_level and subscriber ID/zoom_level to change the zoom level of the sensor.

capabilities/ID/pose (list (Default: invalid pose))

A list with seven values for "x y z qx qy qz qw"

capabilities/ID/manipulator (JAUS ID (Default: invalid ID))

JAUS id for manipulator service.

capabilities/ID/manipulator_joint (int (Default: invalid id))

Joint number for manipulator joint.

capabilities/ID/fov_horizontal (float (Default: invalid float))

Horizontal field of view in radians. Creates also a subscriber ID/fov_horizontal to receive changed fov values.

capabilities/ID/fov_vertical (float (Default: invalid float))

Vertical field of view in radians. Creates also a subscriber ID/fov_vertical to receive changed fov values.

sensor_names (list, (Default: []))

(Depricated) List of pairs of type {ID: Name}, e.g.: "3": Map. ID is a ressource id of range {1..65534}. 0 and 65534 are reserved. Name is a string with maximal length of 255 chars.

Publisher:

sensor_ID/cmd_pwr_state (std_msgs::Bool)

Sets the new power state for the sensor. Only available if switchable is true.

sensor_ID/cmd_zoom_level (std_msgs::Bool)

Sets the new zoom level for the sensor. Only available if zoomable is true.

Subscriber:

sensor_ID/pwr_state (std_msgs::Bool)

Reads the current power state of the sensor. Only available if switchable is true.

sensor_ID/zoom_level (std_msgs::Bool)

Reads the current zoom level for the sensor. Only available if zoomable is true.

sensor_ID/fov_horizontal (std_msgs::Float32)

Reads the current horizontal field of view for the sensor. Only available if fov_horizontal is set.

sensor_ID/fov_vertical (std_msgs::Float32)

Reads the current vertical field of view for the sensor. Only available if fov_vertical is set.