![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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
Plugins
Recent questions tagged rail_ceiling at Robotics Stack Exchange
![]() |
rail_ceiling package from rail_ceiling reporail_ceiling |
ROS Distro
|
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- David Kent
Authors
- Russell Toris
- David Kent
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 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
Wiki Tutorials
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
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