Vision Pipeline¶

Vision pipeline utilizes information obtained through camera sensors to select the appropriate action during the disassembly process.

Docker container that offers GPU support and a configured python environment for vision-pipeline and action-predictor.

RViz

Usage¶

Set the parameters you want in config.yaml.

Run example:

python ros_pipeline.py

To enable the pipeline for realsense or basler use:

rosservice call /vision/realsense/enable True

rosservice call /vision/basler/enable True

Publishes:

Basler:

Realsense:

Services:

/vision/basler/enable True/False
/vision/realsense/enable True/False
/vision/vision_get_detection VisionDetection.srv (from context_action_framework)

The /vision/vision_get_detection service provides a single stable detection result from the requested camera.

For example, to get one Basler detection, run:

rosservice call /vision/vision_get_detection 0 False

To get a Realsense detection, run:

rosservice call /vision/vision_get_detection 1 True

where True provides the gaps as well.

** Camera Services:**