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vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The camera_handler package

  • Maintainer: Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • Author: Riccardo Spica <riccardo.spica AT inria DOT fr>, Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • License: BSD
  • Source: git https://github.com/lagadic/vrep_ros_bridge.git (branch: master)
vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The camera_handler package

  • Maintainer: Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • Author: Riccardo Spica <riccardo.spica AT inria DOT fr>, Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • License: BSD
  • Source: git https://github.com/lagadic/vrep_ros_bridge.git (branch: master)
vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The camera_handler package

  • Maintainer: Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • Author: Riccardo Spica <riccardo.spica AT inria DOT fr>, Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • License: BSD
  • Source: git https://github.com/lagadic/vrep_ros_bridge.git (branch: master)

Vision sensor

In V-REP it is possible to simulate a vision sensor. Vision sensors are added to the scene with [menu bar --> Add --> Vision sensor]. After a double-click on a vision-sensor, we can set some parameters like the resolution and the field of view of the camera. In addition we added a GUI to set the frequency of acquisition and the type of color coding (RGB or grayscale) that should be used.

Camera Settings

NB: Start and stop the simulation two times after you change the parameters in the GUI.

The handler will publish a stream of images in low-bandwidth compressed formats using image_transport. In addition a topic called '/vrep/camera_info' will be created. It contains the intrinsic camera parameters.

Publishers

Let's suppose we have a vision sensor in V-REP called "Vision_sensor_0". The plugin will create the following topics:


2019-07-20 12:33