SenseKit

Application Programming Interfaces for RoboKit

Firmware is packaged as .run installer with binary deb packages and OS tweaks, communicating with 3rd party rosnodes through ROS1 protocol.

Input from setup (typically preset):

• camera driver to use and parameters

• encoder configurations including

  • custom ROS depth image_transport(s)

    • encoder only, decoder available on request

  • custom VAAPI/NVENC accelerated ROS image transport

    • standard message payload (like H.264, ...)

    • decoder not guaranteed to work in all setups

  • preset configurations for encoders (bitrate, GOP, ...)

• ports for communication with AMAS

Input from camera drivers:

• color topic and camera_info (intrinics and distortion models)

• depth topic and camera_info (intrinsics and distortion models)

• tf2 data between depth/color sensors (extrinsics)

Runtime parametrization (dynamic reconfigure):

• encoding configuration (encoder dependent)

ROS services

• calibration support

  • hand-eye

    • input: base / end effector transform

    • output: base / camera transform, quality metrics

  • eye-in-hand

    • input: base / end effector transform

    • output: end-effector / camera transform, quality metrics

  • eye-to-eye

    • output: camera / marker board tranforms

• configuration support

  • list/load/save configuration files