realsense_gazebo component

Table of Contents

• Ports
  • Frame (multiple out)
  • Intrinsics (out)
  • Extrinsics (out)
• Services
  • start_camera (activity)
  • set_debug (attribute)
  • show_image_frames (attribute)
  • set_verbose_level (attribute)
  • set_intrinsics (attribute)
  • set_extrinsics (attribute)
  • set_horizontal_fov (attribute)
  • set_resolution (function)
  • set_compression (function)
  • stop_camera (function)
• Tasks
  • publish

A GenoM module for realsense gazebo plugin.

Ports

Frame (multiple out)

Data structure struct ::or::sensor::frame Frame struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

The image frame from monocular camera.

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Intrinsics (out)

Data structure struct ::or::sensor::intrinsics Intrinsics struct ::or::sensor::calibration calib float fx float fy float cx float cy float gamma struct ::or::sensor::distortion disto float k1 float k2 float k3 float p1 float p2

The intrinsics of the camera.

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Extrinsics (out)

Data structure struct ::or::sensor::extrinsics Extrinsics struct ::or::sensor::translation trans float tx float ty float tz struct ::or::sensor::rotation rot float roll float pitch float yaw

The extrinsics of the camera.

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Services

start_camera (activity)

Throws exception ::realsense_gazebo::e_OUT_OF_MEM short code string<128> message exception ::realsense_gazebo::e_BAD_GAZEBO_CONFIG short code string<128> message exception ::realsense_gazebo::e_PCL_ERROR short code string<128> message exception ::realsense_gazebo::e_BAD_CONFIG short code string<128> message

Context In task publish (frequency 10.0 Hz)

Start the camera plugin.

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set_debug (attribute)

Inputs boolean debug (default "0") Enable debug (default: false)

Set the debug mode.

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show_image_frames (attribute)

Inputs boolean show_frames (default "1") Enable image frames (default: true)

Show image frames.

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set_verbose_level (attribute)

Inputs octet verbose_level (default "0") Verbose level

Set the verbose level.

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set_intrinsics (attribute)

Inputs struct ::or::sensor::intrinsics intrinsics: Intrinsics struct ::or::sensor::calibration calib float fx float fy float cx float cy float gamma struct ::or::sensor::distortion disto float k1 float k2 float k3 float p1 float p2

Set the intrinsics for the camera.

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set_extrinsics (attribute)

Inputs struct ::or::sensor::extrinsics extrinsics: Extrinsics struct ::or::sensor::translation trans float tx float ty float tz struct ::or::sensor::rotation rot float roll float pitch float yaw

Set the extrinsics for the camera.

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set_horizontal_fov (attribute)

Inputs float hfov (default "0") Horizontal field of view

Set the horizontal field of view.

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set_resolution (function)

Inputs short width (default "640") Image width short height (default "480") Image height

Set the image resolution.

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set_compression (function)

Inputs short compression_percent (default "-1") Compression ration in percentage (0 - 100) (-1 for no compresstion)

Set the compression ratio.

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stop_camera (function)

Throws exception ::realsense_gazebo::e_BAD_CONFIG short code string<128> message

Stop the camera.

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Tasks

publish

Context Frequency 10.0 Hz Updates port Frame (multiple out) Updates port Intrinsics (out) Updates port Extrinsics (out)

Throws exception ::realsense_gazebo::e_OUT_OF_MEM short code string<128> message exception ::realsense_gazebo::e_BAD_GAZEBO_CONFIG short code string<128> message exception ::realsense_gazebo::e_PCL_ERROR short code string<128> message

Publish from Gazebo simulator.

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