T265 component

Table of Contents

• Ports
  • odom_state (out)
  • port_tags (out)
• Services
  • set_tag_size (attribute)
  • start_publishing (function)
  • pause_publishing (function)
  • set_pre_tf (function)
  • set_post_tf (function)
  • set_display_frequency (function)
  • enable_pose (function)
  • disable_pose (function)
  • enable_detection (function)
  • disable_detection (function)
  • get_tags_ID (function)
  • log (function)
  • log_stop (function)
• Tasks
  • pose_port_refresh
  • apriltag_detection
  • image_display

This component interfaces with Intel T265 Realsense device.

Ports

odom_state (out)

Data structure struct ::or_pose_estimator::state odom_state struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

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port_tags (out)

Data structure sequence< struct ::apriltag::tag > port_tags struct ::or::time::ts ts long sec long nsec short id optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::point > center double u double v struct ::point uv_corners_pos[4] double u double v optional< double > area optional< string<128> > message

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Services

set_tag_size (attribute)

Inputs double tag_size

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start_publishing (function)

Start retreiving data from T265 sensor. (To be used after pause_publish)

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pause_publishing (function)

Pauses retreiving data from T265 sensor.

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set_pre_tf (function)

Inputs sequence< double, 4 > new_pre_tf

Set precedent multiplication transformation. See documentation for more info.

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set_post_tf (function)

Inputs sequence< double, 4 > new_post_tf

Set post multiplication transformation. See documentation for more info.

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set_display_frequency (function)

Inputs double frequency

Set display frequency. Maximum possible display frequency is 30Hz. 0 will disable display.

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enable_pose (function)

Enable publishing pose data.

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disable_pose (function)

Disable pose data.

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enable_detection (function)

Enable detection. (AprilTag, …​)

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disable_detection (function)

Disable detection.

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get_tags_ID (function)

Outputs sequence< short > tags_id

List all detected tags IDs.

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log (function)

Inputs string<64> path (default "/tmp/T265.log") : Log file name unsigned long decimation (default "1") : Reduced logging frequency

Throws exception ::T265::e_sys short code string<128> what

Log odometry data

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log_stop (function)

Stop logging

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Tasks

pose_port_refresh

Context Frequency 200.0 Hz Updates port odom_state (out)

This task is used to refresh pose output port at 200Hz.

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apriltag_detection

Context Frequency 30.3030303030303 Hz Updates port port_tags (out)

AprilTag detection.

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image_display

Context Frequency 30.3030303030303 Hz

This task is used to display images.

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