robokudo.descriptors.camera_configs.config_hsr_handcam

Classes

CameraConfig

Configuration class for the hand-mounted camera on the Toyota HSR robot.

Module Contents

class robokudo.descriptors.camera_configs.config_hsr_handcam.CameraConfig

Configuration class for the hand-mounted camera on the Toyota HSR robot.

This class defines the configuration parameters for the HSR’s hand camera, including interface settings, topic names, and transformation settings. The camera provides color images without depth information.

Variables:

  • interface_type – Type of camera interface, set to “ROSCameraWithoutDepthInterface”

  • depthOffset – Offset value for depth measurements (unused in this config)

  • rotate_image – Image rotation setting (‘90_ccw’, ‘90_cw’, ‘180’, or None)

  • topic_color – ROS topic for color image data

  • topic_cam_info – ROS topic for camera information

  • tf_from – Frame ID of the hand camera

  • tf_to – Target frame ID for transformations

  • lookup_viewpoint – Flag to enable viewpoint lookup (currently disabled)

  • only_stable_viewpoints – Flag to use only stable viewpoints

  • max_viewpoint_distance – Maximum allowed distance for viewpoint changes

  • max_viewpoint_rotation – Maximum allowed rotation for viewpoint changes

  • semantic_map – Filename of the semantic map configuration

interface_type = 'ROSCameraWithoutDepthInterface'
depthOffset = 0
rotate_image = '90_ccw'
topic_color = '/hsrb/hand_camera/image_raw'
topic_cam_info = '/hsrb/hand_camera/camera_info'
tf_from = '/hand_camera_frame'
tf_to = '/map'
lookup_viewpoint = False
only_stable_viewpoints = True
max_viewpoint_distance = 0.01
max_viewpoint_rotation = 1.0
semantic_map = 'semantic_map_iai_kitchen.yaml'