README romeo_sensors_py

This ROS package enables communication with cameras via NAOqi. It can be used either from a computer that connects to the robot via network or locally on the robot itself.

I. TO USE FROM A REMOTE COMPUTER

I.2 Run romeo_sensors_py

romeo sensors needs NAO_IP in order to get images from Romeo’s cameras. So before running nao_camera, please set NAO_IP to your robot’s ip.

If your catkin workspace is correctly sourced, you can run the following command without error:

  roslaunch romeo_sensors_py cameras.launch

Now you can use image_view or rviz to visualize the image(s) that publishes by romeo_sensors_py. If you run rostopic list, you should see the following topics in the returned list:

  /camera_depth/camera_info
  /camera_depth/image_raw
  /camera_depth/image_color

II. TO USE ON YOUR ROMEO

II.1 Prepare romeo_sensors_py

In order to use it on your robot, you need to compile the package in a naoqi environment. Compiling any ROS package in naoqi is quite simple, as explained here!:

II.2 Run romeo_sensors_py

Once you have your romeo_sensors_py compiled and installed on your robot, you can simply run

roslaunch romeo_sensors_py cameras.launch

Now you can use image_view or rviz to visualize the image(s) that publishes by romeo_sensors_py. If you run rostopic list, you should see the following topics in the returned list:

  /camera_depth/camera_info
  /camera_depth/image_raw
  /camera_depth/image_color

Now you can use image_view to visualize the image(s) that publishes by romeo_sensors_py. From remote computer, you can also run image_view to view images from romeo_sensors_py, you just need to export ROS_MASTER_URI, ROS_IP, and ROS_HOSTNAME with the right information.

TODO: Currently this node assumes that depth camera on romeo is from source 2, as declared in the launch file. To be tested on the complete romeo where the 4 rgb cameras and depth camera are all installed. Things should be done:

• Handler to control the 4 rgb cameras and 1 depth camera on complete Romeo
• Test on Romeo with tabletop
• Attach camera node to a given link/frame (for stereo camera and depth camera)
• merge with nao_sensors

Changelog for package romeo_sensors

0.1.5 (2017-01-20)

• update maintainers
• make Natalia a maintainer
• Contributors: Mikael Arguedas, Vincent Rabaud

0.1.4 (2016-05-20)

0.1.3 (2015-12-20)

• fixing romeo_bringup launch and romeo_sensors_py to get data from all cameras
• Contributors: nlyubova

0.1.2 (2015-10-21)

0.1.1 (2015-10-21)

• rename romeo_sensors to romeo_sensors_py
• Contributors: Vincent Rabaud

0.1.0 (2015-10-08)

• update the maintainer and make it architecture independent
• fix dependencies
• Contributors: Vincent Rabaud

0.0.13 (2014-12-04)

• Added cv_bridge dependency
• Contributors: Arguedas Mikael

0.0.12 (2014-11-26)

0.0.11 (2014-11-26)

0.0.10 (2014-11-13)

• comply to the new naoqi organization
• Contributors: Vincent Rabaud

0.0.9 (2014-09-25)

0.0.8 (2014-09-22)

• Fix CMakeLists
• Contributors: Ha Dang

0.0.7 (2014-09-22)

• Fix dependencies in CMakeLists
• Contributors: Ha Dang

0.0.6 (2014-09-19)

0.0.5 (2014-09-18)

• update changelog
• remove camera_depth.launch
• Update README.md
• Update and rename README_Romeo to README.md
• cleaning
• remove nao_camera from romeo_sensors
• updated readme
• new romeo_sensors with only launch files
• Contributors: Ha Dang, margueda
• remove camera_depth.launch
• Update README.md
• Update and rename README_Romeo to README.md
• cleaning
• remove nao_camera from romeo_sensors
• updated readme
• new romeo_sensors with only launch files
• Contributors: Ha Dang, margueda

0.0.4 (2014-09-11)

• changelog
• fix dependencies for romeo_description
• Contributors: Ha Dang

0.0.3 (2014-09-10 18:26)

• update changelog for build
• Contributors: Ha Dang

0.0.2 (2014-09-10 16:03)

• updated changelog
• fix install target error
• Contributors: Ha Dang

0.0.1 (2014-09-09)

• update version
• add changelog for release
• remove useless messages in romeo_dcm
• added nao_camera node modified to handle ROMEO's Asus Xtion
• Contributors: margueda