vehicle_common.base.vision_node

Classes

VisionNode

Base class for ROS 2 nodes that process vision data.

Functions

camel_to_snake(name)

Module Contents

camel_to_snake(name)

class VisionNode(custom_service, *, node_name: str | None = None, display: bool = False, use_service: bool = True, vehicle_namespace: str | None = None, camera_service_name: str | None = None, image_topic: str | None = None, camera_info_topic: str | None = None, vision_service_name: str | None = None, enable_failsafe: bool | None = None, failsafe_service_name: str | None = None)

Bases: rclpy.node.Node

Base class for ROS 2 nodes that process vision data. Provides an interface for handling image streams, processing frames, and managing vision-based tasks such as tracking and calibration.

classmethod node_name()

classmethod service_name(camera_namespace: str | None = None)

debug

sim

save_vision

display

custom_service_type

uuid = ''

vehicle_namespace = None

camera_namespace = None

camera_service_name = ''

image_topic = ''

compressed_image_topic = '/compressed'

camera_info_topic = ''

preferred_image_transport = 'raw'

vision_service = ''

use_service

client = None

image = None

image_transport = None

camera_info = None

bridge

_camera_request_future = None

_camera_service_warned = False

_camera_wait_warned = False

_camera_fallback_warned = False

failsafe_trigger_client = None

static _normalize_namespace(namespace: str | None) → str | None

_resolve_namespace(explicit_namespace: str | None) → str | None

_resolve_transport_path(*, explicit: str | None, param_name: str, default_suffix: str) → str

_resolve_vision_service_name(explicit: str | None) → str

static _require_relative_transport_path(path: str, *, label: str) → str

static _compressed_topic_for(raw_topic: str) → str

static _resolve_preferred_image_transport(transport: str) → str

image_callback(msg: sensor_msgs.msg.Image)

Callback for receiving image requests.

compressed_image_callback(msg: sensor_msgs.msg.CompressedImage)

Callback for receiving compressed image requests.

camera_info_callback(msg: sensor_msgs.msg.CameraInfo)

Callback for receiving camera info messages. Stores the camera info for later use.

Parameters:

msg (CameraInfo) – The ROS 2 CameraInfo message.

_cache_image(msg: sensor_msgs.msg.Image | sensor_msgs.msg.CompressedImage, transport: str) → None

convert_image_msg_to_frame(msg: sensor_msgs.msg.Image | sensor_msgs.msg.CompressedImage) → numpy.ndarray

Converts a ROS 2 Image message to a NumPy array.

send_req(req)

_refresh_camera_cache_from_service() → None

_select_camera_response_image(response: uav_interfaces.srv.CameraData.Response) → tuple[sensor_msgs.msg.Image | sensor_msgs.msg.CompressedImage | None, str | None]

_handle_camera_response(future) → None

request_data(cam_image: bool = False, cam_info: bool = False)

Sends request for camera image or camera information.

display_frame(frame: numpy.ndarray, window_name: str) → None

Displays the given frame using OpenCV.

cleanup()

Cleanup resources, such as OpenCV windows.

publish_failsafe()