ViSP stack for ROS

1. Introduction

ROS 2 visp_tk contains packages to interface ROS 2 with ViSP which is a library designed for visual-servoing and visual tracking applications. This repository contains:

• visp_common: Bridge between ROS 2 image and geometry messages and ViSP image and 3D transformation representation.
• visp_tracker_common: Common tools for the tracker packages, such as a GUI
• visp_apriltag: a package that contains a ROS2 based on the AprilTag detector of ViSP.
• visp_mbt: a package that contains a ROS2 node based on the Model-Based Tracker (MBT) of ViSP
• visp_rbt: a package that contains a ROS2 node based on the Render-Based Tracker (RBT) of ViSP

2. Install dependencies

2.1. Install ROS 2

Firstly, it assumes that the ROS 2 core has already been installed, please refer to ROS 2 installation to get started.

2.2. Install ViSP

Please refer to the official installation guide from ViSP installation tutorials.

3. Build visp_tk

• Fetch the latest code and build

  $ cd <YOUR_ROS2_WORKSPACE>/src
  $ git clone https://github.com/lagadic/visp_tk.git -b humble
  $ cd ..
  $ colcon build --symlink-install --packages-up-to visp_tk
  

• Install required ros dependencies

  $ cd <YOUR_ROS2_WORKSPACE>
  $ rosdep install --from-paths src --ignore-src
  

• Build visp_tk

  $ cd <YOUR_ROS2_WORKSPACE>
  $ colcon build --symlink-install --packages-up-to visp_tk
  

  If ViSP is not found, use VISP_DIR to point to $VISP_WS/visp-build folder like:

  $ colcon build --symlink-install --packages-up-to visp_tk --cmake-args -DVISP_DIR=$VISP_WS/visp-build
  

4. Usage

TODO