Mono camera pluggin for MoveIt !

asked 2018-11-07 14:42:08 -0500

zubair gravatar image

updated 2018-11-07 14:43:06 -0500

Hello all

I am currently working with depth camera (Intel realsense) and able to work with Moveit depth camera plugin (for ArDrone), although i need to add another plugin to moveit so as to make it compatible for mono camera, and update the obstacle info according to my ROS node.

Can any one tell me what changes do i have to make for this new camera plugin inside Moveit.

Thanks all

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Comments

Can you post us a link to the plugin you're using. A mono cam is a very different sensor to a depth camera, how will you detect the location of obstacles using it?

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-11-07 16:54:24 -0500 )edit

@PeteBlackerThe3rd: afaik there is no "moveit plugin" for that and @zubair is actually asking for whether anyone knows of something or how to create one himself.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-08 02:26:29 -0500 )edit

Can you describe what you're using these depth and mono camera's for in your system? Then we may be able to suggest some packages to help you.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-11-08 03:07:57 -0500 )edit

@gvdhoorn thanks !! @PeteBlackerThe3rd i am building an algorithm for obstacle avoidance using single camera (no depth), and hence i need to have a plugin inside moveit for my camera. To be cleared i have just used depth camera for testing how things in Moveit reacting with obstacles

zubair gravatar imagezubair ( 2018-11-08 10:09:17 -0500 )edit

Next thing i would like to do is to add the camera plugin for in Moveit :(

zubair gravatar imagezubair ( 2018-11-08 10:09:45 -0500 )edit

I don't think something like this exists as a ready-made plugin.

I could imagine using an approach similar to what is done in monocular slam/visual odometry: use salient points from multiple images, combine that with depth from motion, segment scene -> add as voxels to planning scene.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-08 10:46:40 -0500 )edit

I actually agree it doesnt exist, but is there any info regarding how can i replace depth camera plugin from Moveit with this new plugin i will start developing !

zubair gravatar imagezubair ( 2018-11-08 11:29:44 -0500 )edit

See Perception Pipeline Tutorial for how things are normally configured.

For your own plugin, use one the existing ones as a template/example.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-08 11:31:46 -0500 )edit