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CT_robot component

This module illustrates a simple GenoM module for the cnam ISAE UPSSITECH BE.

Ports

ImagePort (in)

Data structure

  • struct ::sensor::sensor_msgs_Image ImagePort

    • struct ::sensor::std_msgs_header header

      • unsigned long seq

      • struct ::sensor::msgs_time stamp

        • unsigned long sec

        • unsigned long nsec

      • string frame_id

    • unsigned long height

    • unsigned long width

    • string encoding

    • octet is_bigendian

    • unsigned long step

    • sequence< octet > data

The port ImagePort containing the image from the camera.

CmdPort (out)

Data structure

  • struct ::geometry::geometry_msgs_Twist CmdPort

    • struct ::geometry::geometry_msgs_Vector3 linear

      • double x

      • double y

      • double z

    • struct ::geometry::geometry_msgs_Vector3 angular

      • double x

      • double y

      • double z

The port CmdPort in which we put the speed at which we drive the robot.

Services

SetThreshold (attribute)

Inputs

  • long threshold

SetPatrolSpeed (attribute)

Inputs

  • struct ::CT_robot::cmd_s patrol_speed

    • double vx

    • double wz

Stop (function)

Context

Stop the tracking.

ColorTrack (activity)

Inputs

  • struct ::CT_robot::color tracked_color

    • unsigned short r

    • unsigned short g

    • unsigned short b
Throws

  • exception ::CT_robot::bad_cmd_port

  • exception ::CT_robot::bad_image_port

  • exception ::CT_robot::opencv_error

  • exception ::CT_robot::bad_color
Context

Produce a twist so the robot follow a color in an image

Tasks

track

Context