public void run() { mainNode.attachPublisher("/tf", tfPublisher); mainNode.execute(); }
public void run() { mainNode.attachPublisher("/tf", tfPublisher); mainNode.execute(); }
public void run() { mainNode.attachPublisher("/tf", tfPublisher); mainNode.execute(); }
public static void main(String[] arg) throws URISyntaxException { RosMainNode mainNode = new RosMainNode(new URI("http://localhost:11311"), "testImu"); mainNode.attachSubscriber("/multisense/imu/imu_data", new RosImuSubscriber() { @Override protected void onNewMessage(long timeStamp, int seqId, Quat4d orientation, Vector3d angularVelocity, Vector3d linearAcceleration) { System.out.println("Gravity:"+ linearAcceleration); } }); mainNode.execute(); }
public static void main(String[] arg) throws URISyntaxException { RosMainNode mainNode = new RosMainNode(new URI("http://localhost:11311"), "testImu"); mainNode.attachSubscriber("/multisense/imu/imu_data", new RosImuSubscriber() { @Override protected void onNewMessage(long timeStamp, int seqId, Quaternion orientation, Vector3D angularVelocity, Vector3D linearAcceleration) { System.out.println("Gravity:"+ linearAcceleration); } }); mainNode.execute(); }
public static void main(String[] args) throws URISyntaxException { RosMainNode mainNode = new RosMainNode(new URI("http://cpu0:11311"), "testDC"); RosDynamicReconfigure testDynamicReconfigure = new RosDynamicReconfigure("/left/camera/camera_nodelet", mainNode); mainNode.execute(); System.out.println("exposure:" + testDynamicReconfigure.setParameters(null).get("exposure")); testDynamicReconfigure.setDouble("exposure", -0.2); Map<String,Object> param = new HashMap<>(), ret; param.put("exposure", -0.1); ret=testDynamicReconfigure.setParameters(param); System.out.println(ret.get("exposure")); System.out.println("exposure:" + testDynamicReconfigure.setParameters(null).get("exposure")); System.exit(0); }
public static void main(String[] args) throws URISyntaxException { RosMainNode mainNode = new RosMainNode(new URI("http://cpu0:11311"), "testDC"); RosDynamicReconfigure testDynamicReconfigure = new RosDynamicReconfigure("/left/camera/camera_nodelet", mainNode); mainNode.execute(); System.out.println("exposure:" + testDynamicReconfigure.setParameters(null).get("exposure")); testDynamicReconfigure.setDouble("exposure", -0.2); Map<String,Object> param = new HashMap<>(), ret; param.put("exposure", -0.1); ret=testDynamicReconfigure.setParameters(param); System.out.println(ret.get("exposure")); System.out.println("exposure:" + testDynamicReconfigure.setParameters(null).get("exposure")); System.exit(0); }
@Override public void run() { try { URI rosMasterUri; String topic; boolean isLocal = true; if (isLocal) { rosMasterUri = new URI("http://localhost:11311/"); topic = "/cloud_pcd"; } else { rosMasterUri = new URI("http://cpu0:11311/"); topic = "/multisense/organized_image_points2_color"; } RosMainNode mainNode = new RosMainNode(rosMasterUri, "linemod"); mainNode.attachSubscriber(topic, rosPointCloudSubscriber); mainNode.execute(); } catch (URISyntaxException e) { e.printStackTrace(); } }
@Override public void run() { try { URI rosMasterUri; String topic; boolean isLocal = true; if (isLocal) { rosMasterUri = new URI("http://localhost:11311/"); topic = "/cloud_pcd"; } else { rosMasterUri = new URI("http://cpu0:11311/"); topic = "/multisense/organized_image_points2_color"; } RosMainNode mainNode = new RosMainNode(rosMasterUri, "linemod"); mainNode.attachSubscriber(topic, rosPointCloudSubscriber); mainNode.execute(); } catch (URISyntaxException e) { e.printStackTrace(); } }
public void run() { //mainNode.attachSubscriber("/multisense/image_points2_color", subscriber); mainNode.attachSubscriber("/multisense/lidar_points2", subscriber); mainNode.attachPublisher("/testCloud", publisher); mainNode.attachPublisher("/tf", tfPublisher); mainNode.execute(); }
public void run() { //mainNode.attachSubscriber("/multisense/image_points2_color", subscriber); mainNode.attachSubscriber("/multisense/lidar_points2", subscriber); mainNode.attachPublisher("/testCloud", publisher); mainNode.attachPublisher("/tf", tfPublisher); mainNode.execute(); }
public MultisensePointCloud2WithSourceReceiver() throws URISyntaxException, IOException { super(PointCloud2WithSource._TYPE); URI masterURI = new URI("http://10.6.192.14:11311"); RosMainNode rosMainNode = new RosMainNode(masterURI, "LidarScanPublisher", true); rosMainNode.attachSubscriber("/singleScanAsCloudWithSource", this); rosMainNode.execute(); lidarScanPublisher = ROS2Tools.createPublisher(ros2Node, LidarScanMessage.class, ROS2Tools.getDefaultTopicNameGenerator()); }
public UiPacketToRosMsgRedirector(DRCRobotModel robotModel, URI rosCoreURI, PacketCommunicator rosAPI_communicator, PacketRouter<PacketDestination> packetRouter, String namespace) { ROS_NAMESPACE = namespace; rosMainNode = new RosMainNode(rosCoreURI, ROS_NAMESPACE, true); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.publishers = new ArrayList<RosTopicPublisher<?>>(); packetRouter.setPacketRedirects(PacketDestination.CONTROLLER, PacketDestination.ROS_API); setupMsgTopics(rosAPI_communicator); rosMainNode.execute(); // rosAPI_communicator.attachGlobalListener(this); }
public UiPacketToRosMsgRedirector(DRCRobotModel robotModel, URI rosCoreURI, PacketCommunicator rosAPI_communicator, PacketRouter<PacketDestination> packetRouter, String namespace) { ROS_NAMESPACE = namespace; rosMainNode = new RosMainNode(rosCoreURI, ROS_NAMESPACE, true); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.publishers = new ArrayList<RosTopicPublisher<?>>(); packetRouter.setPacketRedirects(PacketDestination.CONTROLLER, PacketDestination.ROS_API); setupMsgTopics(rosAPI_communicator); rosMainNode.execute(); // rosAPI_communicator.attachGlobalListener(this); }
public UiPacketToRosMsgRedirector(DRCRobotModel robotModel, URI rosCoreURI, PacketCommunicator rosAPI_communicator, PacketRouter<PacketDestination> packetRouter, String namespace) { ROS_NAMESPACE = namespace; rosMainNode = new RosMainNode(rosCoreURI, ROS_NAMESPACE, true); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.publishers = new ArrayList<RosTopicPublisher<?>>(); packetRouter.setPacketRedirects(PacketDestination.CONTROLLER, PacketDestination.ROS_API); setupMsgTopics(rosAPI_communicator); rosMainNode.execute(); // rosAPI_communicator.attachGlobalListener(this); }
public static void main(String[] arg) throws URISyntaxException { //install ros libuvc_camera driver first to try on usbwebcams String cameraPrefix = "/multisense/left"; String imageTopic = cameraPrefix + "/image_color"; String cameraInfoTopic = cameraPrefix + "/camera_info"; final boolean RUN_JAVA_ROSCORE = false; URI rosMasterURI; if (RUN_JAVA_ROSCORE) { RosCore rosCore = RosCore.newPublic(); rosMasterURI = rosCore.getUri(); } else { // rosMasterURI = new URI("http://cpu0:11311"); rosMasterURI = new URI("http://localhost:11311"); } RosMainNode rosMainNode = new RosMainNode(rosMasterURI, "RosMainNode"); // FiducialDetector<GrayF32> detector = FactoryFiducial.calibChessboard(new ConfigChessboard(5, 6, 0.09), GrayF32.class); FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class); new RosFiducialDetector(rosMainNode, imageTopic, cameraInfoTopic, detector); rosMainNode.execute(); } }
public static void main(String[] arg) throws URISyntaxException { //install ros libuvc_camera driver first to try on usbwebcams String cameraPrefix = "/multisense/left"; String imageTopic = cameraPrefix + "/image_color"; String cameraInfoTopic = cameraPrefix + "/camera_info"; final boolean RUN_JAVA_ROSCORE = false; URI rosMasterURI; if (RUN_JAVA_ROSCORE) { RosCore rosCore = RosCore.newPublic(); rosMasterURI = rosCore.getUri(); } else { // rosMasterURI = new URI("http://cpu0:11311"); rosMasterURI = new URI("http://localhost:11311"); } RosMainNode rosMainNode = new RosMainNode(rosMasterURI, "RosMainNode"); // FiducialDetector<GrayF32> detector = FactoryFiducial.calibChessboard(new ConfigChessboard(5, 6, 0.09), GrayF32.class); FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class); new RosFiducialDetector(rosMainNode, imageTopic, cameraInfoTopic, detector); rosMainNode.execute(); } }
@Override public void initializePhysicalSensors(URI sensorURI) { if(sensorURI == null) { throw new IllegalArgumentException("The ros uri was null, thor's physical sensors require a ros uri to be set! Check your Network Parameters.ini file"); } sensorSuitePacketCommunicator.attachListener(RobotConfigurationData.class, robotConfigurationDataBuffer); RosMainNode rosMainNode = new RosMainNode(sensorURI, "darpaRoboticsChallange/networkProcessor"); DRCRobotCameraParameters multisenseLeftEyeCameraParameters = sensorInformation.getCameraParameters(ThorSensorInformation.MULTISENSE_SL_LEFT_CAMERA_ID); DRCRobotLidarParameters multisenseLidarParameters = sensorInformation.getLidarParameters(ThorSensorInformation.MULTISENSE_LIDAR_ID); DRCRobotPointCloudParameters multisenseStereoParameters = sensorInformation.getPointCloudParameters(ThorSensorInformation.MULTISENSE_STEREO_ID); boolean shouldUseRosParameterSetters = sensorInformation.setupROSParameterSetters(); MultiSenseSensorManager multiSenseSensorManager = new MultiSenseSensorManager(fullRobotModelFactory, robotConfigurationDataBuffer, rosMainNode, sensorSuitePacketCommunicator, ppsTimestampOffsetProvider, multisenseLeftEyeCameraParameters, multisenseLidarParameters, multisenseStereoParameters, shouldUseRosParameterSetters); multiSenseSensorManager.initializeParameterListeners(); ppsTimestampOffsetProvider.attachToRosMainNode(rosMainNode); rosMainNode.execute(); }
@Override public void initializePhysicalSensors(URI sensorURI) { if (sensorURI == null) { throw new IllegalArgumentException("The ros uri was null, val's physical sensors require a ros uri to be set! Check your Network Parameters.ini file"); } ROS2Tools.createCallbackSubscription(ros2Node, RobotConfigurationData.class, ControllerAPIDefinition.getPublisherTopicNameGenerator(robotName), s -> robotConfigurationDataBuffer.receivedPacket(s.takeNextData())); RosMainNode rosMainNode = new RosMainNode(sensorURI, "darpaRoboticsChallange/networkProcessor"); DRCRobotCameraParameters multisenseLeftEyeCameraParameters = sensorInformation.getCameraParameters(ValkyrieSensorInformation.MULTISENSE_SL_LEFT_CAMERA_ID); DRCRobotLidarParameters multisenseLidarParameters = sensorInformation.getLidarParameters(ValkyrieSensorInformation.MULTISENSE_LIDAR_ID); DRCRobotPointCloudParameters multisenseStereoParameters = sensorInformation.getPointCloudParameters(ValkyrieSensorInformation.MULTISENSE_STEREO_ID); boolean shouldUseRosParameterSetters = sensorInformation.setupROSParameterSetters(); MultiSenseSensorManager multiSenseSensorManager = new MultiSenseSensorManager(fullRobotModelFactory, robotConfigurationDataBuffer, rosMainNode, ros2Node, ppsTimestampOffsetProvider, multisenseLeftEyeCameraParameters, multisenseLidarParameters, multisenseStereoParameters, shouldUseRosParameterSetters); lidarScanPublisher.receiveLidarFromROS(multisenseLidarParameters.getRosTopic(), rosMainNode); lidarScanPublisher.setScanFrameToWorldFrame(); lidarScanPublisher.start(); if (ENABLE_STEREO_PUBLISHER) { stereoVisionPointCloudPublisher.receiveStereoPointCloudFromROS(multisenseStereoParameters.getRosTopic(), rosMainNode); stereoVisionPointCloudPublisher.start(); } multiSenseSensorManager.initializeParameterListeners(); ppsTimestampOffsetProvider.attachToRosMainNode(rosMainNode); rosMainNode.execute(); }
public ValkyrieROSNetworkProcessor(String nameSpace, String tfPrefix) throws IOException { ValkyrieRobotModel robotModel = new ValkyrieRobotModel(RobotTarget.REAL_ROBOT, true); PacketCommunicator rosAPICommunicator = null; URI rosUri = NetworkParameters.getROSURI(); if (ENABLE_UI_PACKET_TO_ROS_CONVERTER) { rosAPICommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ROS_API_COMMUNICATOR, new IHMCCommunicationKryoNetClassList()); DRCNetworkModuleParameters networkProcessorParameters = new DRCNetworkModuleParameters(); networkProcessorParameters.enableLocalControllerCommunicator(false); networkProcessorParameters.enableUiModule(true); networkProcessorParameters.enableROSAPICommunicator(true); networkProcessorParameters.enableControllerCommunicator(true); DRCNetworkProcessor networkProcessor = new DRCNetworkProcessor(robotModel, networkProcessorParameters); // new UiPacketToRosMsgRedirector(robotModel, rosUri, rosAPICommunicator, networkProcessor.getPacketRouter(), defaultRosNameSpace); } else { String kryoIP = NetworkParameters.getHost(NetworkParameterKeys.robotController); rosAPICommunicator = PacketCommunicator.createTCPPacketCommunicatorClient(kryoIP, NetworkPorts.CONTROLLER_PORT, new IHMCCommunicationKryoNetClassList()); } RosMainNode rosMainNode = new RosMainNode(rosUri, nameSpace + nodeName); rosMainNode.execute(); new ThePeoplesGloriousNetworkProcessor(rosUri, rosAPICommunicator, robotModel, nameSpace, tfPrefix, "ihmc_valkyrie_ros"); }