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ImFusion SDK 4.3
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ImFusion SDK 4.3
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Integration with ROS and MoveIt! More...
Collaboration diagram for ROS plugin:Integration with ROS and MoveIt!
Classes | |
| class | SimpleROSListenerInterface |
| Convenience interface that wraps ROS subscribers. More... | |
| class | SimpleROSImageListener |
| class | SimpleROSTrackingListener |
| class | SimpleROSFloatListener |
| class | SimpleROSStringListener |
| class | SimpleROSIntListener |
| class | SimpleROSPublisherInterface |
| Convenience interface that wraps ROS publisher. More... | |
| class | SimpleROSImagePublisher |
| class | SimpleROSTrackingPublisher |
| class | SimpleROSFloatPublisher |
| class | SimpleROSStringPublisher |
| class | SimpleROSServiceCallerInterface |
| Convenience interface that wraps ROS service clients. More... | |
| class | SimpleROSServiceServerInterface |
| Convenience interface that wraps ROS service servers. More... | |
| class | SimpleROSEmptyServiceCaller |
| ImFusion implementation of std_srvs/Empty service client. More... | |
| class | SimpleROSEmptyServiceServer |
| ImFusion implementation of std_srvs/Empty service server. More... | |
| class | SimpleROSTriggerServiceCaller |
| ImFusion implementation of std_srvs/Trigger service client. More... | |
| class | SimpleROSTriggerServiceServer |
| ImFusion implementation of std_srvs/Trigger service server. More... | |
| class | SimpleROSSetBoolServiceCaller |
| ImFusion implementation of std_srvs/SetBool service client. More... | |
| class | SimpleROSSetBoolServiceServer |
| ImFusion implementation of std_srvs/SetBool service server. More... | |
| class | SimpleROSListener< ROSMSG > |
| struct | ROSParameterPath |
| Class to abstract between ROS1 and ROS2 parameter paths. More... | |
| class | ImFusionROSManager |
| Singleton class to manage the ROS node When using ROS2, it will manage the main ROS node used to listen to tf. More... | |
| class | ROSTypeName |
| class | ImFusionTfManager |
| Singleton class to manage tf. More... | |
| class | ROSTfTrackingStream |
| Tracking streams which are generated by listening to the ROS tf system. More... | |
| class | ROSTopicImageStream |
| Image streams which are generated by listening to ROS 2D Image topics. More... | |
| class | ROSTopicTrackingOutStream |
| Tracking streams which can transmit a position in space over ROS Transform/Pose topics. More... | |
| class | ROSTopicImageOutStream |
| Tracking streams which can transmit images over ROS Image topics. More... | |
| class | ROSTopicTrackingStream |
| Tracking streams which are generated by listening to ROS Transform/Pose topics. More... | |
| class | CreateROSStreamAlgorithm |
| class | ROSBagIoAlgorithm |
| IO algorithm to load/store SharedImageSets and TrackingStreams from/to ROS Bag files. More... | |
| class | ROSMaster |
| ROS Master execution handler. More... | |
| class | ROSMasterAlgorithm |
| Algorithm to run a ROS1 master. More... | |
| class | ROSParameter |
| Wrapper for ROS1 and ROS2 parameters. More... | |
| class | ROSParameterManager |
| Class to handle ROS1 and ROS2 parameters. More... | |
| class | MoveItControlStream |
| Control interface mirroring a running ROS MoveIt! More... | |
| class | CreateMoveItControlStreamAlgorithm |
Enumerations | |
| enum class | ROSTrackingType { Pose , PoseStamped , Transform , TransformStamped } |
Functions | |
| ros::Time | timepointToROSTime (const std::chrono::system_clock::time_point &tp) |
| Convert a std::chrono time point to ROS Time. | |
| std::chrono::system_clock::time_point | rosTimeToTimepoint (const ros::Time &tp) |
| Convert ROS Time to a std::chrono time point. | |
| ros::Time | nanosecondsToROSTime (const std::chrono::nanoseconds &tp) |
| Convert std::chrono::nanoseconds duration from epoch to ROS Time. | |
| std::chrono::nanoseconds | rosTimeToNanoseconds (const ros::Time &tp) |
| Convert ROS Time to a std::chrono::nanoseconds duration from epoch. | |
| std_msgs::Header | makeHeader (const std::optional< std::string > &tfFrameId={}, const std::optional< std::chrono::system_clock::time_point > ×tamp={}, int seq=0) |
| Convert a ImFusion type into a ROS message type with header. | |
| unsigned long long | rosTimeToTimestampMs (const ros::Time &stamp) |
| Convert ROS Time to milliseconds from the Unix epoch. | |
| ros::Time | timestampMsToROSTime (unsigned long long stamp) |
| Convert milliseconds from the Unix epoch to ROS Time. | |
| double | rosTimeToTimestampSec (const ros::Time &stamp) |
| Convert ROS Time to milliseconds from the Unix epoch. | |
| ros::Time | timestampSecToROSTime (double stamp) |
| Convert milliseconds from the Unix epoch to ROS Time. | |
| unsigned long long | timepointToTimestampMs (const std::chrono::system_clock::time_point &tp) |
| Convert a std::chrono time point to milliseconds from the Unix epoch. | |
| std::chrono::system_clock::time_point | timestampMsToTimepoint (unsigned long long tp) |
| Convert milliseconds from the Unix epoch to a std::chrono time point. | |
| geometry_msgs::Transform | isom3ToROSTransform (const isom3 &mat) |
| Converts an ImFusion isom3 (in millimeters) into a ROS Transform (in meters) | |
| isom3 | rosTransformToIsom3 (const geometry_msgs::Transform &transform) |
| Converts a ROS Transform (in meters) into an ImFusion isom3 (in millimeters) | |
| geometry_msgs::Pose | isom3ToROSPose (const isom3 &mat) |
| Converts an ImFusion isom3 (in millimeters) into a ROS Pose (in meters) | |
| isom3 | rosPoseToIsom3 (const geometry_msgs::Pose &pose) |
| Converts a ROS Pose (in meters) into an ImFusion isom3 (in millimeters) | |
| std::optional< PixelType > | rosImageEncodingToPixelType (const std::string &imageEncoding) |
| Converts a ROS image encoding name to an ImFusion PixelType (if supported) | |
| std::string | imageToROSImageEncoding (const Image &imageDescriptor) |
| Converts an ImFusion PixelType to a ROS image encoding. | |
| std::unique_ptr< MemImage > | rosImageToMemImage (const sensor_msgs::Image &image, bool owning=true) |
| Converts a ROS image message to an ImFusion MemImage. | |
| sensor_msgs::Image | imageToROSImage (const MemImage &image) |
| Converts an ImFusion image to a ROS image message. | |
| std_msgs::Header makeHeader | ( | const std::optional< std::string > & | tfFrameId = {}, |
| const std::optional< std::chrono::system_clock::time_point > & | timestamp = {}, | ||
| int | seq = 0 ) |
#include <ROSPlugin/Include/ImFusion/ROS/ROSConversions.h>
Convert a ImFusion type into a ROS message type with header.
| tfFrameId | Id of the tf frame the object lies in (parent frame). If nullopt, the frame set as equivalent to the ImFusion world in the Settings will be used |
| timestamp | Timestamp of the message. If nullopt, the current time will be used |
| seq | Sequence number of the message. The field is deprecated and it will be overwritten by the publisher! |
| std::unique_ptr< MemImage > rosImageToMemImage | ( | const sensor_msgs::Image & | image, |
| bool | owning = true ) |
#include <ROSPlugin/Include/ImFusion/ROS/ROSConversions.h>
Converts a ROS image message to an ImFusion MemImage.
| image | input ros image |
| owning | if false, the image points to the ROS image data without owning it; if true, the data will be cloned |
