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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for ROBOTIS-OP3

ROS API

op3_ball_detector

Subscribed Topics

~/enable (std_msgs/Bool)

• OP3 will start searching for a ball with a True message, and stop with a False message.

~/image_in (sensor_mgsg/Image)

• The message in this topic contains camera input image for ball searching.

/cameraInfo_in (sensor_msgs/CameraInfo)

• The message in this topic contains camera information of the corresponding input image.

Published Topics

~/image_out (sensor_mgsg/Image)

• The message in this topic contains an output image after the ball searching process.

~/camera_info (sensor_msgs/CameraInfo)

• The message in this topic contains camera information of the output image.

~/circle_set (ball_detector/circleSetStamped)

• Detected ball information
  header(std_msgs/Header) : Header information
  circles(geometry_msgs/Point[]) : Detecetd balls
  - x X coordinate of the center of ball in the image coordinate system
  - y Y coordinate of the center of ball in the image coordinate system
  - z Radius of the detected ball

Parameters

/yaml_path (string, default: "")

• The path of the yaml file that saves parameters.

/gaussian_blur_size (int, default: )

• Size of Gaussian Blur Kernel (only odd value is possible.)

/gaussian_blur_sigma (double, default: )

• standard deviation of Gaussian Blur

/canny_edge_th (double, default: )

• Threshold of the edge detector

/hough_accum_resolution (double, default: )

• Resolution of the Hough accumulator, in terms of inverse ratio of image resolution

/min_circle_dist (double, default: )

• Minimum distance between circles

/hough_accum_th (double, default: )

• Accumulator threshold to decide center detection

/min_radius (int, default: )

• Minimum circle radius allowed, pixels. (if unknown, put 0 for a detault.)

/max_radius (int, default: )

• Maximum circle radius allowed, pixels. (if unknown, put 0 for a detault.)

/filter_h_min (int, default: )

• Minimum threshold of H filter

/filter_h_max (int, default: )

• Maximum threshold of H filter

/filter_s_min (int, default: )

• Minimum threshold of S filter

/filter_s_max (int, default: )

• Maximum threshold of S filter

/filter_v_min (int, default: )

• Minimum threshold of V filter

/filter_v_max (int, default: )

• Maximum threshold of V filter

/filter_debug (bool, default: )

• Show filtered image to debug