No version for distro humble showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro kilted showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro ardent showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro bouncy showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro crystal showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro eloquent showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro dashing showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro galactic showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro foxy showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro iron showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code

No version for distro lunar showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code Wiki

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code Wiki

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

Name	Deps
carl_navigation

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro hydro showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro kinetic showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro melodic showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

Messages

Services

srv/GetAllObstacles.srv

Plugins

No plugins found.

Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing jade. Known supported distros are highlighted in the buttons above.

rail_ceiling package from rail_ceiling repo

rail_ceiling

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/GT-RAIL/rail_ceiling.git
VCS Type	git
VCS Version	develop
Last Updated	2016-03-04
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Overhead Camera System for Tracking AR Tags

Additional Links

Maintainers

David Kent

Authors

Russell Toris
David Kent

README.md

rail_ceiling

Overhead Camera System for Tracking AR Tags

For full documentation, see the ROS wiki.

Contributing

rail_ceiling includes pre-compiled URDF files. To properly contribute, do the following if you modify the calibration file:

cd /path/to/rail_ceiling
rosrun xacro xacro urdf/ceiling.urdf.xacro > urdf/ceiling.urdf

License

rail_ceiling is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

CHANGELOG

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

adds missing dep
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Updated launch for calibration from carl
Update .travis.yml
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.3 (2014-12-04)

old YAML syntax fix 2
syntax fix for old YAML versions
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
Added support for previous YAML versions, removed unused bundles
Update .travis.yml
Merge branch 'develop' of github.com:WPI-RAIL/rail_ceiling into develop
corrected the ratio for the slerp averaging; it was originally backwards
Contributors: David Kent, Russell Toris

0.0.2 (2014-12-02)

Linear interpolation-based method to average quaternions for camera calibration samples
topic name update
removed some debugging statements
CMakeLists install
Furniture position adjustment
Organization/Documentation
Initial positions of furniture can be included in the markers.yaml file, which can be optionally read in when launching the furniture_tracker node
Added missing dependency
Documentation and cleanup
New implementation of furniture tracking for both localization and path planning
Merge branch 'develop' of https://github.com/WPI-RAIL/rail_ceiling into develop
Started implementing new furniture tracker with YAML config files
Update .travis.yml
Contributors: David Kent, Russell Toris

0.0.1 (2014-08-27)

ceiling launch file added
calibration launch file created
travis fix
launch files added for URDF
URDF files added
calibration file now written as a URDF
rviz config added
travis fix
calibration of camera 2
fix for travis build
calibration node now calculates offsets
started calibration node
markers added
added camera calibration files
cameras now set exposure via usb_cam
camera launch files created
Merge pull request #4 from Spkordell/develop Added ability to transmit map on service call
Fixed merge conflicts
Cleaning
When loading a map from a file, will publish metadata after loading
Removed legs from tables
Added ability to transmit map on service call
Added rviz configuration
Can directly load static map rather than reading it from a topic.
Added option to stop publishing maps while driving
Fixed transforms
Added more cameras to launch
Fixed transform from map to ceiling
cleanup
Fixed includes to use new ar_track_alvar_msgs package
Merge pull request #1 from Spkordell/develop Created Rail Ceiling Package
Camera transform adjustements
Added bundle for black table
Fixed camera frames.
Update camera transforms
Added support for unfilled polygons
Merge branch 'develop' of https://github.com/Spkordell/rail_ceiling into develop
Localization map will not be published if the robot is navigating
robot ar tracker fixes
Bundle adjustements
Cleaning
Added xml option to specify whether or not a particular obstacle should be kept on the map when occluded.
Behavior change. When an object is completely occluded, it's last known location will continue to appear on the map.
Tagged vertical surfaces
Merge branch 'develop' of

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ar_track_alvar_msgs
	geometry_msgs
	roscpp
	roslib
	tf
	catkin
	ar_track_alvar
	image_view
	robot_state_publisher
	xacro
	usb_cam

System Dependencies

Name
pkg-config
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 8.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/coffee_table.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
  - ceiling_cam_0_pos_x [default: 3.57]
  - ceiling_cam_0_pos_y [default: 1.15]
  - ceiling_cam_0_pos_z [default: 0.0]
  - ceiling_cam_0_rot_x [default: 0.0]
  - ceiling_cam_0_rot_y [default: 0.0]
  - ceiling_cam_0_rot_z [default: 0.0]
  - ceiling_cam_0_rot_w [default: 1.0]
  - ceiling_cam_1_pos_x [default: 3.35]
  - ceiling_cam_1_pos_y [default: 2.62]
  - ceiling_cam_1_pos_z [default: 0.0]
  - ceiling_cam_1_rot_x [default: 0.0]
  - ceiling_cam_1_rot_y [default: 0.0]
  - ceiling_cam_1_rot_z [default: 0.0]
  - ceiling_cam_1_rot_w [default: 1.0]
  - ceiling_cam_2_pos_x [default: 4.45]
  - ceiling_cam_2_pos_y [default: 3.36]
  - ceiling_cam_2_pos_z [default: 0.0]
  - ceiling_cam_2_rot_x [default: 0.0]
  - ceiling_cam_2_rot_y [default: 0.0]
  - ceiling_cam_2_rot_z [default: 0.0]
  - ceiling_cam_2_rot_w [default: 1.0]
  - ceiling_cam_3_pos_x [default: 3.38]
  - ceiling_cam_3_pos_y [default: 3.8]
  - ceiling_cam_3_pos_z [default: 0.0]
  - ceiling_cam_3_rot_x [default: 0.0]
  - ceiling_cam_3_rot_y [default: 0.0]
  - ceiling_cam_3_rot_z [default: 0.0]
  - ceiling_cam_3_rot_w [default: 1.0]
  - ceiling_cam_4_pos_x [default: 3.97]
  - ceiling_cam_4_pos_y [default: 5.52]
  - ceiling_cam_4_pos_z [default: 0.0]
  - ceiling_cam_4_rot_x [default: 0.0]
  - ceiling_cam_4_rot_y [default: 0.0]
  - ceiling_cam_4_rot_z [default: 0.0]
  - ceiling_cam_4_rot_w [default: 1.0]
launch/calibration_ar_trackers.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/calibration_from_carl.launch
- Author: David Kent, Worcester Polytechnic Institute Version: December 11, 2014
launch/camera_monitor.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_viwer_]
  - topic_prefix [default: /ceiling_cam_]
  - image_topic [default: /image_raw]
launch/cameras.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 21, 2014
- - node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: mjpeg]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_frame_id_prefix [default: $(arg node_name_prefix)]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - autofocus [default: false]
  - focus [default: 34]
  - autoexposure [default: false]
  - exposure [default: 113]
  - brightness [default: 100]
  - contrast [default: 32]
  - saturation [default: 62]
  - sharpness [default: 150]
  - auto_white_balance [default: false]
  - white_balance [default: 3500]
launch/ceiling.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 22, 2014
- - num_cameras [default: 5]
  - num_samples [default: 25]
  - fixed_frame [default: map]
  - camera_frame_id_prefix [default: ceiling_cam_]
  - camera_node_name_prefix [default: ceiling_cam_]
  - video_device_prefix [default: /dev/video]
  - image_width [default: 1920]
  - image_height [default: 1080]
  - pixel_format [default: yuyv]
  - io_method [default: mmap]
  - camera_info_url_prefix [default: file://$(find rail_ceiling)/config/camera_info/ceiling_cam_]
  - camera_name_prefix [default: $(arg camera_frame_id_prefix)]
  - framerate [default: 5]
  - autofocus [default: true]
  - autoexposure [default: false]
  - exposure [default: 75]
  - marker_size [default: 10.0]
  - bundle_files [default: $(find rail_ceiling)/bundles/kitchen_chair.xml $(find rail_ceiling)/bundles/kitchen_chair.xml]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - ar_node_name_prefix [default: ceiling_cam_tracker_]
  - cam_image_topic_prefix [default: /$(arg camera_name_prefix)]
  - image_topic [default: /image_raw]
  - cam_info_topic_prefix [default: $(arg cam_image_topic_prefix)]
  - info_topic [default: /camera_info]
  - output_frame_prefix [default: $(arg cam_image_topic_prefix)]
launch/ceiling_description.launch
- Author: Russell Toris, Worcester Polytechnic Institute Version: August 25, 2014
launch/furniture_tracker.launch
- Author: David Kent, Worcester Polytechnic Institute Version: November 12, 2014
launch/view_calibration.launch
launch/view_ceiling.launch

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rail_ceiling package from rail_ceiling repo

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rail_ceiling

Overhead Camera System for Tracking AR Tags

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0.0.4 (2014-12-18)

0.0.3 (2014-12-04)

0.0.2 (2014-12-02)

0.0.1 (2014-08-27)

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Recent questions tagged rail_ceiling at Robotics Stack Exchange

rail_ceiling package from rail_ceiling repo

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Package Summary

Repository Summary

Package Description

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Maintainers

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rail_ceiling

Overhead Camera System for Tracking AR Tags

Contributing

License

Authors

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

0.0.3 (2014-12-04)

0.0.2 (2014-12-02)

0.0.1 (2014-08-27)

Package Dependencies

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Recent questions tagged rail_ceiling at Robotics Stack Exchange

rail_ceiling package from rail_ceiling repo

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Package Summary

Repository Summary

Package Description

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Authors

rail_ceiling

Overhead Camera System for Tracking AR Tags

Contributing

License

Authors

Changelog for package rail_ceiling

0.0.4 (2014-12-18)

0.0.3 (2014-12-04)

0.0.2 (2014-12-02)

0.0.1 (2014-08-27)

Package Dependencies

System Dependencies

Dependant Packages

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Recent questions tagged rail_ceiling at Robotics Stack Exchange

rail_ceiling package from rail_ceiling repo

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Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

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Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

ROS Distro
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Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

ROS Distro
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Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

ROS Distro
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Recent questions tagged `rail_ceiling` at Robotics Stack Exchange

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