Package Summary
Integration of the Arduino Nicla Vision board in the ROS world. Sensors data from the Nicla Vision is collected and trasmited to the relevant ROS topics
- Maintainer status: maintained
- Maintainer: Davide Torielli <toridebraus AT gmail DOT com>, Damiano Gasperini <damiano.gasperini98 AT gmail DOT com>
- Author: Davide Torielli <toridebraus AT gmail DOT com>, Damiano Gasperini <damiano.gasperini98 AT gmail DOT com>, Edoardo Del Bianco <delbianco.edoardo AT gmail DOT com>, Federico Rollo <rollo.f96 AT gmail DOT com>
- License: Apache License 2.0
- Bug / feature tracker: https://github.com/ADVRHumanoids/nicla_vision_ros/issues/
- Source: git https://github.com/ADVRHumanoids/nicla_vision_ros.git (branch: master)
Contents
A ROS package for the Arduino Nicla Vision board
Description
This ROS package enables the Arduino Nicla Vision board to be ready-to-use in the ROS world!
The implemented architecture is described in the above image: the Arduino Nicla Vision board streams the sensors data to a ROS-running machine through TCP/UDP socket. This package will be running on the ROS-running machine, allowing to deserialize the received info, and stream it in the corresponding ROS topics
Here a list of the available sensors with their respective ROS topics:
2MP color camera streams on
/nicla/camera/camera_info
/nicla/camera/image_raw
/nicla/camera/image_raw/compressed
Time-of-Flight (distance) sensor streams on:
/nicla/tof
Microphone streams on:
/nicla/audio
/nicla/audio_info
/nicla/audio_stamped
/nicla/audio_recognized
Imu streams on:
/nicla/imu
The user can easily configure this package, by launch parameters, to receive sensors data via either UDP or TCP socket connections, specifying also the socket IP address. Moreover, the user can decide which sensor to be streamed within the ROS environment. In this repository you can find the Python code optimised for receiving the data by the board, and subsequently publishing it through ROS topics.
Package List
License
Distributed under the Apache-2.0 License. See LICENSE for more information.
Citation
If you use this work or take inspiration from it, please cite (publication in progress)
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