deltarobotone/visy_user_interface_pkg

Qt based user interface for vision system (visy) display on backside. Controls apps and shows live and manipulated images.

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:

• 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.