visy_user_interface_pkg
Qt based user interface for vision system (visy) display on backside. Controls apps and shows live and manipulated images.
This package is part of the visy ROS workspace:
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- visy_sorting_app_pkg
- visy_detector_pkg
- visy_user_interface_pkg
- one_easy_protocol_pkg
- visy_neopixel_pkg
- raspicam_node
Nodes
data_exchange_thread
Ros node connects ROS communication mechanisms via qt signals/slots. Implemented as seperate thread to support a non blocking user interface.
Service Clients
start_sorting (visy_sorting_app_pkg/StartSorting)
Client to start sorting application for metal chips including Delta-Robot One, conveyor system and vision system.
stop_sorting (visy_sorting_app_pkg/StopSorting)
Client to stop sorting application.
select_image (visy_detector_pkg/SelectImage)
Client to change image at processing state via buttons on user interface to select displayed image processing state.
Subscribed topics
visy_image (sensor_msgs/CompressedImage)
Subscribe image at the end of a detection loop published by conveyor detector or metal chip detetctor.
grasp_data (visy_sorting_app_pkg/GraspData)
Subscribe grasp data including the time until grasp, colour of chip, number of detetcted chips, latency, velocity, last chip position, etc.