def __init__(self): NaoNode.__init__(self) rospy.init_node('nao_camera') self.camProxy = self.getProxy("ALVideoDevice") if self.camProxy is None: exit(1) self.nameId = None self.camera_infos = {} def returnNone(): return None self.config = defaultdict(returnNone) # ROS publishers self.pub_img_ = rospy.Publisher('~image_raw', Image) self.pub_info_ = rospy.Publisher('~camera_info', CameraInfo) # initialize the parameter server self.srv = Server(NaoCameraConfig, self.reconfigure)
def __init__(self): NaoNode.__init__(self, 'nao_depth') self.camProxy = self.get_proxy("ALVideoDevice") if self.camProxy is None: exit(1) self.nameId = None self.camera_infos = {} def returnNone(): return None self.bridge = CvBridge() # ROS publishers self.pub_img_ = rospy.Publisher('~image_raw', Image) self.pub_cimg_ = rospy.Publisher('~image_color', Image) self.pub_info_ = rospy.Publisher('~camera_info', CameraInfo) # initialize the parameter of the depth camera self.setup_cam()
def __init__( self ): #Initialization NaoNode.__init__( self, self.NODE_NAME ) from distutils.version import LooseVersion if self.get_version() < LooseVersion('2.0.0'): rospy.loginfo('The NAOqi version is inferior to 2.0, hence no log bridge possible') exit(0) rospy.init_node( self.NODE_NAME ) # the log manager is only avaiable through a session (NAOqi 2.0) self.session = qi.Session() self.session.connect("tcp://%s:%s" % (self.pip, self.pport)) self.logManager = self.session.service("LogManager") self.listener = self.logManager.getListener() self.listener.onLogMessage.connect(onMessageCallback) rospy.loginfo('Logger initialized')
def __init__(self): # Initialization NaoNode.__init__(self, self.NODE_NAME) from distutils.version import LooseVersion if self.get_version() < LooseVersion("2.0.0"): rospy.loginfo("The NAOqi version is inferior to 2.0, hence no log bridge possible") exit(0) rospy.init_node(self.NODE_NAME) # the log manager is only avaiable through a session (NAOqi 2.0) self.session = qi.Session() self.session.connect("tcp://%s:%s" % (self.pip, self.pport)) self.logManager = self.session.service("LogManager") self.listener = self.logManager.getListener() self.listener.onLogMessage.connect(onMessageCallback) rospy.loginfo("Logger initialized")
def __init__(self): NaoNode.__init__(self, 'nao_camera') self.camProxy = self.get_proxy("ALVideoDevice") if self.camProxy is None: exit(1) self.nameId = None self.camera_infos = {} def returnNone(): return None self.config = defaultdict(returnNone) # ROS publishers self.pub_img_ = rospy.Publisher('~image_raw', Image, queue_size=5) self.pub_info_ = rospy.Publisher('~camera_info', CameraInfo, queue_size=5) # initialize the parameter server self.srv = Server(NaoCameraConfig, self.reconfigure) # initial load from param server self.init_config() # initially load configurations self.reconfigure(self.config, 0)