Ein integrates with ROS (Robot Operating System). It takes input on feeds such as ROS Image topics. It outputs on standard ROS topics such as object_recognition_msgs.
Ein does not have to use ROS; indeed one of the first robots we integrated it with besides Baxter was the Aibo, and it connects over a TCP/IP connection. However data structures such as ros::Time and the like are embedded into Ein’s code, so it must have a ROS environment to compile, currently ROS Indigo.
Sending Commands to Ein
You can send commands to Ein by publishing on the topic
/ein/left/forth_commands for each
hand. These topics take a std_msgs/String which is a valid Back
program. You can use any ROS program to publish to this topic,
rostopic pub. For an example, see
which sends commands to each arm.
Document color calibration
Write about the file system and where objects are stored
which one is focused?
setTargetClass (but change it to focused class)
Write a word to map the whole table
add pictures of predicted map
To add objects to a map:
tableTakeScene (move the arm to take the map) scenePredictBestObject (predict the best object) tableUpdateMaps (visualize what you predicted)
(random things I don’t understand that seem to result in a recognized object array being published) 0 sceneMapSceneObject recordPreTargetLock recordPostTargetLock publishRecognizedObjectArrayFromBlueBoxMemory (rename this)
Bug: predict orientation in recognized object array
Write about Ein’s architecture (ros, not ros, qt, everything else)