robokudo.descriptors.camera_configs.config_tiago

Classes

TiagoCameraConfig

Configuration class for the TIAGo robot's Xtion camera.

Module Contents

class robokudo.descriptors.camera_configs.config_tiago.TiagoCameraConfig

Bases: robokudo.descriptors.camera_configs.base_camera_config.BaseCameraConfig, robokudo.descriptors.camera_configs.components.RGBDComponent, robokudo.descriptors.camera_configs.components.TfComponent, robokudo.descriptors.camera_configs.components.StableViewpointComponent, robokudo.descriptors.camera_configs.components.WorldDescriptorComponent

Configuration class for the TIAGo robot’s Xtion camera.

This class defines the configuration parameters for the Xtion RGB-D camera mounted on the TIAGo robot. It includes settings for camera interface, topic names, and transformation settings.

Note

The configuration uses the Kinect interface type for compatibility with the Xtion camera, as both cameras use similar RGB-D data formats.

registry_name: typing_extensions.ClassVar[str] = 'tiago'

Name of the camera configuration in the registry. Must be unique.

interface_type: str = 'Kinect'

Type of camera interface

topic_depth: str = '/xtion/depth_registered/image_raw/compressedDepth'

topic_cam_info: str = '/xtion/rgb/camera_info'

topic_color: str = '/xtion/rgb/image_raw/compressed'

tf_from: str = '/xtion_rgb_optical_frame'

tf_to: str = '/odom'