ROS2 Node for Vision Subsystem

The ROS2 node for the vision subsystem of SNAAK.

Setup and Running

1. Setup a Python3 virtual environment and install requirements

   python3 -m venv .venv
   source .venv/bin/activate
   pip install --upgrade pip
   pip install -r requirements.txt

2. Remember to activate the environment before running the code

   source .venv/bin/activate
   ros2 run snaak_vision vision_node.py

Topic Subscriptions

1. /camera/camera/color/image_rect_raw
   • The raw RGB image topic
   • Type: sensor_msgs/Image
2. /camera/camera/depth/image_rect_raw
   • The raw depth map topic
   • Type: sensor_msgs/Image

Services Provided

1. /snaak_vision/get_depth_at_point

   • Returns depth value from depth map at given XY point
   • Type: snaak_vision/GetDepthAtPoint
     • Request: int32 x; int32 y
     • Response: float32 depth

2. /snaak_vision/get_pickup_point

   • Returns pickup point for the ingredient in the bin defined by location ID
   • Type: snaak_vision/GetXYZFromImage
     • Request: int32 location_id; float32 timestamp
     • Current Location ID definitions:
       • HAM_BIN_ID = 1
       • CHEESE_BIN_ID = 2
       • BREAD_BIN_ID = 3
     • Response: float32 x; float32 y; float32 z

3. /snaak_vision/get_place_point

   • Returns place point, which is currently defined as the center of the bread on the tray
   • Type: snaak_vision/GetXYZFromImage
     • Request: int32 location_id; float32 timestamp
     • Current Location ID definitions:
       • ASSEMBLY_TRAY_ID = 4
       • ASSEMBLY_BREAD_ID = 5
     • Response: float32 x; float32 y; float32 z