Maintainer: Gerardo Aragon-Camarasa

1. Overview

This package includes a simple GUI and main control node for the CloPeMa robot head that interfaces nodes for verging the cameras. This package will also contain a control node for visual search functions of the CloPeMa robot head.

2. Nodes

2.1 RH_mainUI_vergence

Node that displays a simple GUI and serves as the control node for verging the cameras.

2.1.1 Subscribed Topics

Main topic message where captured images are transmitted.

Topic that publishes when the cameras are verged or not.

2.1.2 Published Topics

Main topic that contains position and velocity information in order to move the PTU units.

2.1.3 Services Called

Gets the current state of the PTU units in radians.

2.1.4 Parameters

  • /PTU/stepsPerPixelX (double)
  • /PTU/stepsPerPixelY (double)

Steps per pixel ratio in X and Y axes, respectively, as described in Actuator calibration MATLAB functions.

  • /PTU/pan_left_res (double)
  • /PTU/tilt_left_res (double)
  • /PTU/pan_right_res (double)
  • /PTU/tilt_right_res (double)

Resolution of the pan and tilt units.

  • /CAM/capturemode (float)

This controls the capturing mode of the cameras. "0" indicates full resolution mode (16 MP) whereas "1", preview mode (VGA resolution). If it is not set, "RHcam_left" node sets it to the mode given in the message "/RH/cmd/acquire".

  • /PTU/pan_left_home (double)
  • /PTU/tilt_left_home (double)
  • /PTU/pan_right_home (double)
  • /PTU/tilt_right_home (double)

User-defined home position of the PTUs. By default, these are set as zeros, indicating the factory home position of the PTUs.

2.1.5 tf joints

  • left_to_pan
  • left_to_tilt
  • right_to_pan
  • right_to_tilt

Link names as defined in the XACRO script of the robot head located at the RH_ptu package.