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robo_magellan — Package information

Overview

This package implements nodes needed for the Robot Garden Victory robot for Robo Magellan competitions.

ROS API

video_publish — Publish video frames from a video file to a ROS topic

A ROS node that reads a video file and publishes frames on a ROS topic at a specified frame rate.

Published Topics

color/image_raw (sensor_msgs/Image)

Video image in RGB format.

Parameters

~file (string)

The video file from which to extract and publish frames.

~frame_rate (int, default: 15)

The frame rate at which to publish images from the video file.

~start_frame (int, default: 1)

The first frame of the video to publish. If greater than zero, skips to the indicated frame before starting to publish.

video_odometry — Publishes odometry from video

A ROS node that accepts image messages and calculates odometry. Optionally, it publishes marked-up image frames with the calculated optical flow vectors.

Published Topics

odom (nav_msgs/Odometry)

Publishes the inferred odometry.

color/image_flow (sensor_msgs/Image)

The marked-up video images with vectors showing optical flow. Only published if ~publish_flow is set.

Subscribed Topics

color/image_raw (sensor_msgs/Image)

Video image in RGB format.

Parameters

~frame_rate (int, default: 15)

Expected video frame rate, in frames per second.

~horizon_width (int, default: 400)

Width of the horizon patch at the top of the image, observed to determine heading.

~horizon_height (int, default: 150)

Height of the horizon patch at the top of the image, observed to determine heading.

~odom_width (int, default: 300)

Width in pixels of the odometry patch at the bottom of the image, observed to determine velocity.

~odom_height (int, default: 150)

Height in pixels of the odometry patch at the bottom of the image, observed to determine velocity.

~odom_margin (int, default: 50)

Margin in pixels between the odometry patch and the bottom of the video image.

~horizon_features (int, default: 500)

Maximum number of horizon features to find.

~horizon_quality (double, default: 0.01)

Feature quality level for finding horizon features.

~horizon_min_distance (int, default: 1)

Minimum distance between features in the horizon patch.

~horizon_window_size (int, default: 21)

Size of the optical flow search window for horizon features.

~odom_features (int, default: 500)

Maximum number of odometry patch features to find.

~odom_quality (double, default: 0.01)

Feature quality level for finding odometry features.

~odom_min_distance (int, default: 1)

Minimum distance between features in the odometry patch.

~odom_window_size (int, default: 21)

Size of the optical flow search window for odometry features.

~heading_scaling (double, default: 0.002)

Linear scaling factor to converting heading movement in pixels to radians.

~odom_scaling (double, default: 0.003)

Linear scaling factor to convert odometry patch movement in pixels to meters.

~odom_frame (string, default: odom)

Frame name the odometry messsages are relative to.

~child_frame (string, default: base_link)

Frame name on the robot which is the odometry location.

~publish_flow (boolean, default: false)

If true, publish the marked-up video frames showing optical flow vectors.