Torobo Eye ROS2

The toroboeye_ros2 provides a ROS2 interface for the toroboeye.

Table of Contents

• Torobo Eye ROS2
  • Table of Contents
  • Supported versions
  • File system
  • Installation
    • Pytoroboeye installation
    • ROS installation
      • Install build essentials
      • Install ROS Melodic Morenia
      • catkin_ws setup
      • Clone toroboeye_ros
      • Install necessary Package for toroboeye_ros
    • Build toroboeye
  • Getting Started
    • Launch Rviz and toroboeye GUI
    • Examples
      • Capture
  • License

Supported versions

The recommended configuration is ROS2 Galactic Geochelone with Ubuntu 20.04. This package has only been tested for the one recommended above.

File system

• toroboeye_bringup: A package that has launch file to start Torobo Eye ros applications.
• toroboeye_camera: A package that has services to control Torobo Eye.
• toroboeye_description: A package that has the configuration model infomation of Torobo Eye.
• toroboeye_examples: A package that has examples (currently only capture example is included) using ros service.
• toroboeye_msgs: A packages that defines Torobo Eye's original commands.
• toroboeye_ros2: A metapackage that put together all packages for ros.

Installation

Pytoroboeye installation

• You can use this package after you have finished to install pytoroboeye in your pc.
• If you don't have pytoroboeye package, Please contact us.

ROS2 installation

This operation is unnecessary if ROS Melodic Morenia has already been installed.

Install ROS2 Galactic Geochelone

Install build essentials

sudo apt update -y
sudo apt install -y build-essential
sudo apt install -y python-dev
sudo apt install -y python-pip

Setup sources

sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS2 Galactic Geochelone

sudo apt update
sudo apt upgrade
sudo apt install ros-galactic-desktop
sudo apt install ros-galactic-ros-base
sudo apt install ros-dev-tools

Create workspace

source /opt/ros/galactic/setup.bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
colcon build
source install/setup.bash

Clone toroboeye_ros2

cd ./src
git clone https://github.com/TokyoRobotics/toroboeye_ros2

Build toroboeye_ros2

Please place the toroboeye_ros2 package under ~/catkin_ws/src/ below before doing the following operations. The directory structure is as follows.

~/catkin_ws
           `--src
                 `--toroboeye_ros2
                      |--toroboeye_bringup
                      |--toroboeye_camera
                      |--toroboeye_description
                      |--toroboeye_examples
                      |--toroboeye_msgs
                      `--toroboeye_ros2

Please build with the following command.

cd ~/ros2_ws
colcon build
source install/setup.bash

Getting Started

Launch Rviz and toroboeye GUI

Launch toroboeye_bringup.launch, captured image and pointcloud publish node is started. also lanunched rviz and toroboeye gui. you can cofirm captured image(color and depth) and pointcloud in rviz.

ros2 launch toroboeye_bringup bringup.launch.py model:=sl80

You can use these topics for desired application (image processing and machine learning etc.).

Topic Name	Type	Note
/toroboeye/camera/color/image	sensor_msgs/Image	publish color image encoded 'rgb8'.
/toroboeye/camera/depth/image	sensor_msgs/Image	publish depth image encoded '32FC1'.
/toroboeye/camera/camera_info	sensor_msgs/CameraInfo	publish camera parameter.
/toroboeye/camera/point_cloud	sensor_msgs/PointCloud2	publish point cloud.

Also, The parameters related to the camera are managed in some yaml files. A brief description of each parameter is given below.

• toroboeye_camera/params/param_capture_setting.yaml

Parameter Name	Type(default : available range)	Note
device_ip_address	-	set device ip address of toroboeye for desiring connection.
device_illuminant_power	8 : 0~8	see document pytoroboeye for detailed explanation.
device_illuminant_color	2 : 2~5	see document pytoroboeye for detailed explanation.
depth_cording_pattern_index	7 : 7~8	see document pytoroboeye for detailed explanation.
depth_accuracy	2 : 1~6	see document pytoroboeye for detailed explanation.
depth_exposure_time	1 : 1~6	see document pytoroboeye for detailed explanation.
color_strobe_intensity	4 : 0~8	see document pytoroboeye for detailed explanation.
color_exposure_time	1 : 1~6	see document pytoroboeye for detailed explanation.

• toroboeye_camera/params/param_filter.yaml

Parameter Name	Type(default : available range)	Note
amplitude_depth_scale	1000 : (fixed)	see document pytoroboeye for detailed explanation.
upper_base_limit	1 : 0~255	see document pytoroboeye for detailed explanation.
lower_amplitude_limit	255 : 0~255	see document pytoroboeye for detailed explanation.
gradient_threshold	10 : (fixed)	see document pytoroboeye for detailed explanation.
edge_dilation_value	2 : (fixed)	see document pytoroboeye for detailed explanation.
min_area_x	0 : 0~1440	see document pytoroboeye for detailed explanation.
min_area_y	0 : 0~1080	see document pytoroboeye for detailed explanation.
max_area_x	1440 : 0~1440	see document pytoroboeye for detailed explanation.
max_area_y	1080 : 0~1080	see document pytoroboeye for detailed explanation.
depth_range_min	200 : 200~700	see document pytoroboeye for detailed explanation.
depth_range_max	700 : 200~700	see document pytoroboeye for detailed explanation.
use_depth_median_filter	true : (bool)	see document pytoroboeye for detailed explanation.
depth_median_filter_kernel_size	5 : 1~100	see document pytoroboeye for detailed explanation.
depth_bilateral_filter_diameter	true : (bool)	see document pytoroboeye for detailed explanation.
depth_bilateral_filter_diameter	7 : 1~100	see document pytoroboeye for detailed explanation.
depth_bilateral_filter_sigma_depth	5.0 : 0.01~20.0	see document pytoroboeye for detailed explanation.
depth_bilateral_filter_sigma_space	5.0 : 0.01~20.0	see document pytoroboeye for detailed explanation.

Parameter Name	Type(default : available range)	Note
colorbalance_gain_red	1.5 : 0.0~4.0	see document pytoroboeye for detailed explanation.
colorbalance_gain_blue	1.0 : 0.0~4.0	see document pytoroboeye for detailed explanation.
colorbalance_gain_green	2.0 : 0.0~4.0	see document pytoroboeye for detailed explanation.
input_level_dark	0 : 0~255	see document pytoroboeye for detailed explanation.
input_level_light	255 : 0~255	see document pytoroboeye for detailed explanation.
output_level_dark	0 : 0~255	see document pytoroboeye for detailed explanation.
output_level_light	255 : 0~255	see document pytoroboeye for detailed explanation.
brightness_gamma	1.0 : 0.0~2.0	see document pytoroboeye for detailed explanation.
sharpness_level	0.0 : 0.0~4.0	see document pytoroboeye for detailed explanation.

When you run the launch file, it will run multiple service server to control Torobo Eye device. A brief description of all service is given below. and you can use these service for your desired application. if you get detail information for service, Please check document pytoroboeye.

Service Name	Service Type	Note
connect	toroboeye_msgs.srv/Connect	connect Torobo Eye device to PC installed ROS.
disconnect	toroboeye_msgs.srv/Disconnect	disconnect Torobo Eye device.
get_capture_setting	toroboeye_msgs.srv/GetCaptureSetting	get current capture setting(accuracy and exposure time etc.) in device.
set_capture_setting	toroboeye_msgs.srv/SetCaptureSetting	set your desired capture setting to device.
write	toroboeye_msgs.srv/Write	non users use service.
activate	toroboeye_msgs.srv/Activate	activate Torobo Eye device.
deactivate	toroboeye_msgs.srv/Deactivate	deactivate Torobo Eye device.
capture	toroboeye_msgs.srv/Capture	capture color image and depth image.
wait_for_state	toroboeye_msgs.srv/WaitForState	get state(connection ,activate, capture etc).
wait_for_active	toroboeye_msgs.srv/WaitForActive	if activation finish, this service return value.
wait_for_inactive	toroboeye_msgs.srv/WaitForInactive	if deactivation finish, this service retuen value.
wait_for_frame	toroboeye_msgs.srv/WaitForFrame	get captured image(color image and depth image).
stop	toroboeye_msgs.srv/Stop	stop capture (Only use in the case of capturing continuous).
get_intrinsics	toroboeye_msgs.srv/GetIntrinsics	get camera parameter.
update_frame	toroboeye_msgs.srv/WaitForFrame	update captured image for publishing ros messages.
update_intrinsics	toroboeye_msgs.srv/GetIntrinsics	update inttrinsics for publishing ros messages.

Examples

Next, launch example.

ros2 launch toroboeye_example example.launch.py

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