The toroboeye_ros provides a ROS interface for the toroboeye.

• Torobo Eye ROS
  • Table of Contents
  • Supported versions
  • File system
  • Installation
    • Pytoroboeye installation
    • ROS installation
      • Install build essentials
      • Install ROS Melodic Morenia
      • catkin_ws setup
      • Clone toroboeye_ros
      • Install necessary Package for toroboeye_ros
    • Build toroboeye
  • Getting Started
    • Launch Rviz and toroboeye GUI
    • Examples
      • Capture
  • License

The recommended configuration is ROS Melodic Morenia with Ubuntu 18.04. This package has only been tested for the one recommended above.

• toroboeye_bringup: A package that has launch file to start Torobo Eye ros applications.
• toroboeye_camera: A package that has services to control Torobo Eye.
• toroboeye_description: A package that has the configuration model infomation of Torobo Eye.
• toroboeye_examples: A package that has examples (currently only capture example is included) using ros service.
• toroboeye_gui: A package that has gui tools to control Torobo Eye.
• toroboeye_msgs: A packages that defines Torobo Eye's original commands.
• toroboeye_ros: A metapackage that put together all packages for ros.

• You can use this package after you have finished to install pytoroboeye in your pc.
• If you don't have pytoroboeye package, Please contact us.

This operation is unnecessary if ROS Melodic Morenia has already been installed.

Install build essentials

sudo apt update -y
sudo apt install -y build-essential
sudo apt install -y python-dev
sudo apt install -y python-pip

Install ROS Melodic Morenia

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install -y curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update 
sudo apt install -y ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool python-catkin-tools
sudo rosdep init
rosdep update
source ~/.bashrc
echo "source `catkin locate --shell-verbs`" >> ~/.bashrc
source ~/.bashrc

Install build essentials

sudo apt update -y
sudo apt install -y build-essential
sudo apt install -y python-dev
sudo apt install -y python-pip

Install ROS Noetic Ninjemys

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install -y curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update 
sudo apt install -y ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool python3-catkin-tools
sudo rosdep init
rosdep update
source ~/.bashrc
echo "source `catkin locate --shell-verbs`" >> ~/.bashrc
source ~/.bashrc

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init

cd ./src
git clone https://github.com/TokyoRobotics/toroboeye_ros

sudo pip install -U PyYAML

Please place the toroboeye_ros package under ~/catkin_ws/src/ below before doing the following operations. The directory structure is as follows.

~/catkin_ws
           `--src
                 `--toroboeye_ros
                      |--toroboeye_bringup
                      |--toroboeye_camera
                      |--toroboeye_description
                      |--toroboeye_examples
                      |--toroboeye_gui
                      |--toroboeye_msgs
                      `--toroboeye_ros

Please build with the following command.

cd ~/catkin_ws
catkin build
catkin source

Launch toroboeye_bringup.launch, captured image and pointcloud publish node is started. also lanunched rviz and toroboeye gui. you can cofirm captured image(color and depth) and pointcloud in rviz.

roslaunch toroboeye_bringup toroboeye_bringup.launch camera:=true rviz:=true gui:=true

You can use these topics for desired application (image processing and machine learning etc.).

Also, The parameters related to the camera are managed in some yaml files. A brief description of each parameter is given below.

• toroboeye_camera/params/param_capture_setting.yaml

• toroboeye_camera/params/param_filter.yaml

When you run the launch file, it will run multiple service server to control Torobo Eye device. A brief description of all service is given below. and you can use these service for your desired application. if you get detail information for service, Please check document pytoroboeye.

One example is included in this package currently.

You can use that example to capture your scene at any time. Also you can incorporate it into your program by referring to the example.

For example, after connecting to the device and activating it, one shot is taken. If you run example, run the following command in your teminal.

roslaunch toroboeye_example toroboeye_capture_example.launch 

After capturing, save color and depth images(.png). the launch file load one yaml file (param_capture_exaqmple.yaml). if you change saving image directory, you need to edit the value of 'save directory' in yaml file.

• toroboeye_example/params/param_capture_example.yaml

This project is licensed under BSD 3-clause license, see the LICENSE file for details.