VIPER Configuration¶

cvm_description/parent_link¶

When the camera is attached to a robot it might be necessary to take it into account by describing the setup.

parent_link

Robot link to which camera is attached. If empty, transform is not published. Empty is default.

rotation_r

Roll relative to the parent link’s reference frame in degrees. Default: 0.0. Range: [-180.0; 180.0].

rotation_p

Pitch relative to the parent link’s reference frame in degrees. Default: 0.0. Range: [-180.0; 180.0].

rotation_y

Yaw relative to the parent link’s reference frame in degrees. Default: 0.0. Range: [-180.0; 180.0].

position_x

X translation relative to the parent link’s reference frame in meters. Default: 0.0. Range: [-100.0; 100.0].

position_y

Y translation relative to the parent link’s reference frame in meters. Default: 0.0. Range: [-100.0; 100.0].

position_z

Z translation relative to the parent link’s reference frame in meters. Default: 0.0. Range: [-100.0; 100.0].

cvm_description/cvm_ground_link¶

The ground is described relatively to VIPER’s center (cvm_base_link), using the following parameters. The transform can be used by the Obstacle Detector App to adjust the detection of obstacles when the ground is not parallel to, or is located at VIPER’s center.

rotation_r

Roll relative to the cvm base link’s reference frame in degrees. Default: 0.0. Range: [-180.0; 180.0].

rotation_p

Pitch relative to the cvm base link’s reference frame in degrees. Default: 0.0. Range: [-180.0; 180.0].

rotation_y

Yaw relative to the cvm base link’s reference frame in degrees. Default: 0.0. Range: [-180.0; 180.0].

position_x

X translation relative to the cvm base link’s reference frame in meters. Default: 0.0. Range: [-100.0; 100.0].

position_y

Y translation relative to the cvm base link’s reference frame in meters. Default: 0.0. Range: [-100.0; 100.0].

position_z

Z translation relative to the cvm base link’s reference frame in meters. Default: 0.0. Range: [-100.0; 100.0].

cvm_v4l2_camera¶

resolution

Camera resolution can be changed to the following values:

1280x360 Original nHD from camera driver. Default.

2560x720 Original HD from camera driver.

cvm_stereo/disparity_nodelet¶

stereo_algorithm

Stereo matching algorithm. It affects accuracy of point clouds.

StereoSGBM_VW SGBM that comes from VisionWorks library. Slower and more robust than the other. Default.

StereoSGM_HZ Hernandez’s implementation of SGM. Faster, but it produces more noise.

cvm_follow_me¶

drop_time

Time after which the target should be dropped if not seen, in seconds. Default: 5. Range: [0.2; 30].

detection_prob

Probability threshold to assume that the correct object class has been detected. Default: 0.25. Range: [0.0; 1.0].

similarity_threshold

Visual similarity of the object in the subsequent frame. Default: 0.6. Range: [0.0; 1.0].

history_queue

Queue size for storing visual data. If 0 then visual data is not compared. Default: 15. Range: [0; 100].

cvm_follow_aruco¶

marker_size

Size of the Aruco marker in meters. Default: 0.15. Range: [0.0; 2.0].

marker_id

ID of the marker that will be considered as a target. Default: 4. Range: [0; 1000].

cvm_follow_me/cvm_object_detector¶

camera_rotation

If camera has been rotated, correct parameter has to be set for human recognition to work. Camera rotation types:

0 default. Camera is in its regular position.

1 CW_90. Camera is rotated 90 degrees clock wise.

2 CCW_90. Camera is rotated 90 degrees counter clock wise.

cvm_laserscan¶

target_frame

If provided, transforms the point cloud into this frame before converting to a laser scan. If the target frame is set to the cvm_ground_link or another part that is parallel to the ground, laser scan will also be parallel to the ground. Empty is default, which means that by default laser scans are produced in left_camera_link.

min_height

The minimum height to sample in the point cloud in meters. Default: -1.0. Range: [-100.0; 100.0].

max_height

The maximum height to sample in the point cloud in meters. Default: 1.0. Range: [-100.0; 100.0].

min_angle

The minimum scan angle in degrees. Default: -30.0. Range: [-180.0; 180.0].

max_angle

The maximum scan angle in degrees. Default: 30.0. Range: [-180.0; 180.0].

angle_increment

Resolution of laser scan in degrees per ray. Default: 0.6. Range: [-180.0; 180.0].

scan_time

The rate at which laser scan is produced in seconds. This information does not change the output of the Obstacle Detector App. Some navigation planners take it into account. Default: 0.1. Range: [0.0; 1.0].

min_range

The minimum ranges to return in meters. Default: 1.0. Range: [0.0; 50.0].

max_range

The maximum ranges to return in meters. Default: 25.0. Range: [0.0; 50.0].

use_inf

If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf. False is default.