rc_visard: rc_hand_eye_calibration_client | rc_pick_client | rc_roi_manager_gui | rc_tagdetect_client | rc_visard_description | rc_visard_driver

Package Summary

The ros client for roboception tag detection modules

rc_visard: rc_hand_eye_calibration_client | rc_pick_client | rc_roi_manager_gui | rc_tagdetect_client | rc_visard_description | rc_visard_driver

Package Summary

The ros client for roboception tag detection modules

See http://rc-visard.com and http://doc.rc-visard.com for more details.

This package is still in development and the API might change in the future. Please report any bugs or feature requests on GitHub.

Overview

This node provides ROS service calls and parameters for the TagDetect module.

For detail description of the TagDetect module check the rc_visard manual.

Configuration

Parameters

  • host: The IP address or hostname of the rc_visard that should be used.

Since version 2.7, the device ID can be used instead of the sensor's IP address:

  • device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:

    • serial number, e.g. 02912345.

    Preceed with a colon (:02912345) when passing this on the commandline or setting it via rosparam (see https://gSinceithub.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.

    • user defined name must be unique among all reachable sensors.
    If no device or host is given, this parameter works if just one rc_visard is connected.

Dynamic reconfigure parameters

  • use_cached_images: Use most recently received image pair instead of waiting for a new pair.

  • forget_after_n_detections: Number of detection runs after which to forget about a previous tag during tag re-identification.

  • max_corner_distance: Maximum distance of corresponding tag corners in meters during tag re-identification.

  • quality: Quality of tag detection (H, M or L).

  • detect_inverted_tags: Detect tags with black and white exchanged.

  • publish_visualization: Whether or not the tf and markers should be published.

Services

The following services are offered to follow the calibration routine:

  • detect: Triggers single detection.

  • start_continuous_detection: Starts continuous detection.

  • stop_continuous_detection: Stops continuous detection.

Launch

Using command line parameters:

  • rosrun rc_tagdetect_client rc_april_node _host:=<sensor_ip>
    rosrun rc_tagdetect_client rc_qr_node _host:=<sensor_ip>

Since version 2.7:

  • rosrun rc_tagdetect_client rc_april_node _device:=:<serial_number>
    rosrun rc_tagdetect_client rc_qr_node _device:=:<serial_number>

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Acknowledgements

ROSIN Logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

EU Flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement No. 732287.

Wiki: rc_tagdetect_client (last edited 2019-07-09 11:00:47 by CarlosGarcia)