Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
Messages
Services
Plugins
Recent questions tagged interbotix_xslocobot_perception at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
Messages
Services
Plugins
Recent questions tagged interbotix_xslocobot_perception at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
Messages
Services
Plugins
Recent questions tagged interbotix_xslocobot_perception at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
Messages
Services
Plugins
Recent questions tagged interbotix_xslocobot_perception at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
Messages
Services
Plugins
Recent questions tagged interbotix_xslocobot_perception at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
Messages
Services
Plugins
Recent questions tagged interbotix_xslocobot_perception at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
Messages
Services
Plugins
Recent questions tagged interbotix_xslocobot_perception at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
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Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | ROS Packages for Interbotix Rovers |
Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-18 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | robotics ros mobile-robots mobile-robotics ros2 interbotix |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_perception
Overview
This package contains the necessary config and launch files to get any of the Interbotix X-Series LoCoBot arms working with the perception pipeline. The end result allows for an arm to pick up any small, non-reflective object from a tabletop-type surface that is within a RealSense color/depth camera’s field of view. While any Intel RealSense color/depth camera can be used, this package was mainly tested with the D435 camera. See more details on how the pipeline works in the interbotix_perception_modules ROS package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/xslocobot_perception.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- external_urdf_loc [default: ]
- use_rviz [default: true]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- load_configs [default: true]
- filters [default: pointcloud]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- launch_driver [default: true]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- use_armtag [default: false]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- use_static_transform_pub [default: false]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]