depth_data

This is the only node which interacts with the expansion board (robot). It is responsible for controlling the robot’s movement and arm movements.

Subscribed topics

• /camera/depth/points (PointCloud2) - The depth data from the camera

• get_depth (GetDepth) - Enable the transfer of depth data for 1 image

Published topics

• depth_data (DepthData) - The compressed depth data from the camera

depth data

class robot.src.depth_data.depth_data.depth_data.DepthDataNode(*args: Any, **kwargs: Any)

handle_get_depth(msg) → None

Enable the get_depth functionality.

Parameters:

msg – GetDepth message

handle_depth_points(msg) → None

Get the depth data from the camera, compresses it and publishes the data.

Parameters:

msg – PointCloud2 message

robot.src.depth_data.depth_data.depth_data.main(args=None)

utils

robot.src.depth_data.depth_data.utils._get_struct_fmt(is_bigendian: bool, fields, field_names: tuple[str] = None)

Get struct format string from a list of PointFields.

Parameters:

• is_bigendian – Whether the data is big-endian.

• fields – List of PointFields.

• field_names – List of field names to include in the format string.

Returns:

Format string for struct.unpack from the given fields.

robot.src.depth_data.depth_data.utils.read_points(cloud, field_names: tuple[str] = None, skip_nans: bool = False, uvs=[])

Read points from a L{sensor_msgs.PointCloud2} message.

Parameters:

• cloud – The point cloud to read from.

• field_names – The names of fields to read. If None, read all fields.

• skip_nans – If True, then don’t return any point with a NaN value.

• uvs – If specified, then only return the points at the given coordinates.

Returns:

Generator which yields a list of values for each point.