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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-05-18 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The interbotix_xslocobot_perception package
Additional Links
No 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.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct 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
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged interbotix_xslocobot_perception at Robotics Stack Exchange
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