iCub device (plugin, server) for visual servoing.
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iCub device (plugin, server) for visual servoing.
Version: 0.6.0.0
- Author
- Claudio Fantacci claud.nosp@m.io.f.nosp@m.antac.nosp@m.ci@g.nosp@m.mail..nosp@m.com
- Copyright
- BSD 3-clause "New" or "Revised" License
Description
An image-based visual servoing controller for iCub.
This is the device (YARP plugin) that controls and command iCub.
Parameters
- – verbosity : enable device verbose output log.
- – robot : mandatory, specify the robot name (e.g., iCub)
- – simulate : enable a dry-run controller where the control low is simulated and the robot does not move.
Input Ports
- /visualservoing/cam_left/img:i [Image] [default carrier:mcast]: Input image from the left camera.
- /visualservoing/cam_right/img:i [Image] [default carrier:mcast]: Input image from the right camera.
Output Ports
- /visualservoing/cam_left/img:o [Image] [default carrier:tcp]: Output image showing the status of the visual servo controller from the left camera viewpoint.
- /visualservoing/cam_right/img:o [Image] [default carrier:tcp]: Output image showing the status of the visual servo controller from the right camera viewpoint.
Services
- /visualservoing/cmd:i [rpc-server]: Command port to control the visual servoing server . This service is described in VisualServoingIDL (VisualServoingIDL.thrift)
