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Package Summary

This package wraps Tango Ros Streamer application

  • Maintainer status: developed
  • Maintainer: Ruben Smits <ruben AT intermodalics DOT eu>, Perrine Aguiar <perrine AT intermodalics DOT eu>
  • Author:
  • License: Apache
  • Source: git https://github.com/Intermodalics/tango_ros.git (branch: master)

Package Summary

This package wraps Tango Ros Streamer application

  • Maintainer status: developed
  • Maintainer: Ruben Smits <ruben AT intermodalics DOT eu>, Perrine Aguiar <perrine AT intermodalics DOT eu>
  • Author:
  • License: Apache
  • Source: git https://github.com/Intermodalics/tango_ros.git (branch: master)

App summary

Tango ROS Streamer is an android application and ROS node for Tango-enabled devices. Its main purpose is to provide Tango sensor data to the ROS ecosystem in order to easily use the Tango functionalities on robots.

Installation

The app has been developed and tested with ROS indigo on Ubuntu 14.04, and kinetic on Ubuntu 16.04.

Tutorials

  1. Visualise Tango data in Rviz

    Step by step tutorial to visualise Tango data published by the TangoRosStreamer application in Rviz.

  2. Use Tango localization

    Tutorial showing how to use the different localization modes provided by TangoRosStreamer.

  3. Use the tango ROS node in your own app

    Tutorial to integrate the tango ROS node of TangoRosStreamer in your own app.

Create a new tutorial:

Known Usages

ROS API

tango

This node is the core of the application, it is responsible for streaming Tango data to ROS.

Published Topics

android/imu (sensor_msgs/Imu) tango/camera/color_1/camera_info (sensor_msgs/CameraInfo) tango/camera/color_1/image_raw (sensor_msgs/Image) tango/camera/color_1/image_rect (sensor_msgs/Image) tango/camera/fisheye_1/camera_info (sensor_msgs/CameraInfo) tango/camera/fisheye_1/image_raw (sensor_msgs/Image) tango/camera/fisheye_1/image_rect (sensor_msgs/Image) tango/laser_scan (sensor_msgs/LaserScan) tango/point_cloud (sensor_msgs/PointCloud2) tango/reconstruction/mesh_marker (visualization_msgs/MarkerArray) tango/reconstruction/occupancy_grid (nav_msgs/OccupancyGrid) tango/static_occupancy_grid (nav_msgs/OccupancyGrid) tango/status (std_msgs/Int8) tango/transform/area_description_T_start_of_service (geometry_msgs/TransformStamped) tango/transform/start_of_service_T_device (geometry_msgs/TransformStamped)

Services

tango/connect (tango_ros_messages/TangoConnect) tango/get_map_name (tango_ros_messages/GetMapName) tango/get_map_uuids (tango_ros_messages/GetMapUuids) tango/load_occupancy_grid (tango_ros_messages/LoadOccupancyGrid) tango/save_map (tango_ros_messages/SaveMap) tango/set_parameters (dynamic_reconfigure/Reconfigure)

Parameters

tango/area_description_frame_id (string, default: area_description) tango/create_new_map (bool, default: false) tango/enable_3dr_mesh (bool, default: true) tango/enable_3dr_occupancy_grid (bool, default: true) tango/enable_color_camera (bool, default: true) tango/enable_depth (bool, default: true) tango/laser_scan_max_height (double, default: 1) tango/laser_scan_min_height (double, default: -1) tango/localization_map_uuid (string, default: "") tango/localization_mode (int, default: 2) tango/occupancy_grid_directory (string, default: /sdcard/tango_ros_streamer/occupancy_grids/) tango/publish_pose_on_tf (bool, default: true) tango/reconstruction/floorplan_max_error (double, default: 0.0) tango/reconstruction/max_voxel_weight (int, default: 16383) tango/reconstruction/min_num_vertices (int, default: 1) tango/reconstruction/occupancy_grid_threshold (int, default: 180) tango/reconstruction/resolution_3d (double, default: 0.05) tango/reconstruction/update_method (int, default: 0) tango/reconstruction/use_space_clearing (bool, default: false) tango/start_of_service_frame_id (string, default: start_of_service) tango/use_tf_static (bool, default: true) tango/android_api_level (int, default: 0)

Provided tf Transforms

area_descriptionstart_of_service start_of_servicedevice devicecamera_depth camera_depthlaser devicecamera_fisheye devicecamera_color deviceimu

Note that all image topics are published via image_transport. Therefore, for each image topic, a compressed version of the image is available together with its compression parameters.

Also note that the service tango/connect seems to not work properly on Tango Tablet Development Kit.

Report a bug

Use GitHub to report bugs or submit feature requests. [View active issues]


2020-01-18 13:14