ViSP stack for ROS

1. Introduction

ROS 2 vision_visp contains packages to interface ROS 2 with ViSP which is a library designed for visual-servoing and visual tracking applications. This repository contains:

• visp_bridge: Bridge between ROS 2 image and geometry messages and ViSP image and 3D transformation representation.
• visp_tracker: ViSP model-based tracker interfaced in ROS 2 and initialized from a client that requires user interaction.
• visp_auto_tracker: ViSP model-based tracker interfaced in ROS 2 and initialized thanks to a marker (AprilTag, QRcode, flashcode). Recovers when tracking fails.
• visp_camera_calibration: ViSP based tool to calibrate camera intrinsic parameters.
• visp_handeye_calibration: ViSP based tool to estimated the robot end-effector to camera geometric transformation.

2. Install dependencies

2.1. Install ROS 2

Firstly, it assumes that the ROS 2 core has already been installed, please refer to ROS 2 installation to get started.

2.2. Install ViSP

Please refer to the official installation guide from ViSP installation tutorials.

3. Build vision_visp

Fetch the latest code and build

$ cd <YOUR_ROS2_WORKSPACE>/src
$ git clone https://github.com/lagadic/vision_visp.git -b rolling
$ cd ..
$ colcon build --symlink-install

If ViSP is not found, use VISP_DIR to point to $VISP_WS/visp-build folder like:

$ colcon build --symlink-install --cmake-args -DVISP_DIR=$VISP_WS/visp-build

4. Usage

• To run visp_auto_tracker launch:

  $ ros2 launch visp_auto_tracker tutorial_launch.xml

• To run visp_tracker launch:

  $ ros2 launch visp_tracker tutorial_launch.xml