ros_dvs_bridge

Work done at CNRS-AIST JRL. This package enables the direct visual servoings of https://github.com/jrl-umi3218/DirectVisualServoing to run within a ROS wrapping.

Authors: Guillaume Caron, Belinda Naamani ...

Dates: from April 2025 to ...

Pre-requisities

Tested under Ubuntu 22.04 and ROS Humble

ros packages:

• spinnaker: to use Flir camera (Flir Spinnaker SDK, version 3.0.0.118 tested: https://flir.app.boxcn.net/v/SpinnakerSDK?pn=Spinnaker+SDK&vn=Spinnaker_SDK)

• flir_camera_driver: to use Flir camera with ROS2 (https://github.com/ros-drivers/flir_camera_driver)

• visp_bridge: to convert ROS messages to ViSP data formats, mainly grayscale images (https://github.com/lagadic/vision_visp)

-The imaging source camera: To use The Imaging source camera, use : https://github.com/meriemBelinda7/the_imaging_source_image_publisher

Example with UR10 equipped with The Imagig source camera:

After creating a directory ros2_dvs_bridge in your directory $HOME/.ros

1- To capture the desired image run :

ros2 launch captureAndSaveDsiredImage.py

2- To start the defocus based visual servoing run :

ros2 launch defocusBasedVisualServoing.py