Only released in EOL distros:
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)
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)
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)
Contents
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.
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:
/vrep/Vision_sensor_0 /vrep/Vision_sensor_0/Camerainfo /vrep/Vision_sensor_0/compressed /vrep/Vision_sensor_0/compressed/parameter_descriptions /vrep/Vision_sensor_0/compressed/parameter_updates /vrep/Vision_sensor_0/compressedDepth /vrep/Vision_sensor_0/compressedDepth/parameter_descriptions /vrep/Vision_sensor_0/compressedDepth/parameter_updates /vrep/Vision_sensor_0/theora /vrep/Vision_sensor_0/theora/parameter_descriptions /vrep/Vision_sensor_0/theora/parameter_updates