Note: This tutorial assumes that you have a pick package running and connected to your rc_visard. For the installation and setup see the following tutorial: rc_visard/Tutorials/Setting up the rc-pick modules.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Managing regions of interest

Description: This tutorial shows how to use the graphical user interface for the management of several regions of interest on a rc_visard sensor.

Keywords: rc_visard, rc_pick_client, rviz, interactive_markers

Tutorial Level: BEGINNER

Next Tutorial: Computing grasps (configuration with web GUI) | Computing grasps (configuration with rosservice calls)

Goal

The goal of this tutorial is to show the use of the graphical user interface for the management of regions of interest on a rc_visard sensor.

Before we start

In order to go through this tutorial, the following prerequisites should be met:

Prerequisites

The rc-pick-client's version should be at least 2.7.

In order to use the external pose_frame to define a region of interest's position in the world, the hand-eye calibration has to be available (hand-eye calibration tutorial).

Installation

To run this tutorial, the rc_visard_ros package should be installed. This can be done by given in the terminal the following command:

$ sudo apt-get install ros-${ROS_DISTRO}-rc-roi-manager-gui ros-${ROS_DISTRO}-rc-pick-client ros-${ROS_DISTRO}-hand-eye-calibration-client ros-${ROS_DISTRO}-rc-visard-driver

or cloning and installing the following repository: https://github.com/roboception/rc_visard_ros.git

Launch

To run the launch file, two arguments are needed:

  • device: Provides the serial-number of the rc_visard sensor.

  • rc_package: Name of the pick package to be used. (rc_itempick or rc_boxpick)

The serial number can be obtained through the rcdiscover.

For this, run in the terminal the following command:

$ rcdiscover

Having the ip-address and the serial-number of the sensor, run the following command to start the interactive managing of the region of interests:

$ roslaunch rc_roi_manager_gui interactive_roi_selection.launch device:=<serial_number> rc_package:=<rc_pickpackage> 

An Rviz console and the region of interest manager window should open:

Region of interest manager window

Rviz with the roi manager config

Creating a new region of interest

To generate a new region of interest, click on the New button. The edit window of the region of interest will come up and a new region of interest will appear on rviz:

Edit region of interest window

A new region of interest shown in rviz

There are three attributes of the region of interest that can be changed here.

  • Name: Provides the name of the region of interest.

  • Type: Either a box or a sphere

  • Frame pose: Reference frame for the relative position and orientation of the region of interest.

If the type or the pose frame are changed, the Update button should be pressed to make and see the temporal changes.

There are two interactive markers that provide the definition of the region of interest. The main marker is used to give the position and orientation of the region of interest. To change the mentioned attributes, drag or rotate the main marker. The corner marker can be dragged in order to change the size of the region of interest.

An interactive region of interest

To save the existing changes, the Save button can be used. If the changes are to be thrown away, the Cancel button or the window close button can be used.

Editing an existing region of interest

A region of interest can be edited by selecting it from the list and clicking the Edit button. The same steps for creating a new region of interest are used to edit an existing one.

Deleting a region of interest

Deleting a region of interest is as easy as selecting the region of interest from the list and clicking the Delete button.

Updating the list of regions of interest

If a new region of interest is created or an existing one deleted through the Web GUI, the regions of interest should be updated by clicking the Update button.

Wiki: rc_visard/Tutorials/ManagingRegionsofInterest (last edited 2019-07-23 10:42:51 by CarlosGarcia)