Sensory Information

Sensory information encompasses data such as SLAM, camera imagery, calibration, IMU, and ToF. In subsequent secondary development, these interfaces can be used to acquire and invoke data.

Visual Odometry（VO）

Function Overview： Obtain a rapid 60Hz pose.
Topic： perception/visual_slam/tracking/vo_pose
Msg Type s-e： geometry_msgs/msg/PoseStamped

SLAM Odometry

Function Overview： Odometry that integrates IMU and has undergone pose optimization.
Topic： perception/visual_slam/tracking/Odometry
Msg Type s-e： nav_msgs/msg/Odometry

Pose Reset

Function Overview： Reset the odometry to zero.
Topic： perception/visual_slam/reset
Msg Type s-e： visual_slam/reset
Code Example： ros2 service call /visual_slam/reset tita_perception_msgs/srv/Reset

Camera Sensor Data

Function Overview： Publish undistorted color images from the camera at 60Hz.
Topic：
perception/sensor/camera/left
perception/sensor/camera/right
Msg Type s-e： sensor_msgs/msg/Image

Camera Calibration Data

Function Overview： Publish camera calibration data at a frequency of 60Hz.
Topic：
perception/sensor/camera_info/left
perception/sensor/camera_info/right
Msg Type s-e： sensor_msgs/msg/CameraInfo

Camera Point Cloud Data

Function Overview： Camera-estimated depth data, colored point cloud. Contains < 140,544 points, Point cloud distance ≤ 5 meters.
Topic： perception/sensor/camera/point_cloud
Msg Type s-e： sensor_msgs/msg/PointCloud2

Camera IMU Data

Function Overview： Camera IMU data includes acceleration, angular velocity, and posture.
Topic： perception/sensor/camera/imu
Msg Type s-e： sensor_msgs/msg/Imu

Front Face ToF Data

Function Overview： Front-facing ToF (Time-of-Flight) converted point cloud data. 8x8.
Topic： perception/sensor/spad/face/point
Msg Type s-e： sensor_msgs/msg/PointCloud2

Lower ToF Data

Function Overview： Lower ToF converted point cloud data. 8x8.
Topic： perception/sensor/spad/neck/point
Msg Type s-e： sensor_msgs/msg/PointCloud2

Robot Joint Coordinate System

Function Overview： Synchronize joint coordinates.
Topic： perception/wheel/tracking/odometry
Msg Type s-e： tf2_msgs/msg/TFMessage

Wheeled Odometry

Function Overview： Short-range odometry. Unable to record Z-axis information.
Topic： perception/wheel/tracking/odometry
Msg Type s-e：nav_msgs/msg/Odometry

Slope Detection

Function Overview： Based on the area that is 50 cm to one meter ahead and as wide as the robot.
Topic：perception/sensor/camera/attention_region
Msg Type s-e：sensor_msgs/msg/PointCloud2

ToF-based Staircase Detection and Identification Point Cloud

Function Overview： Each set of four points represents a step. There are a total of eight points.
Topic：perception/spad/stair/point_cloud
Msg Type s-e：sensor_msgs/msg/PointCloud2

Step Distance Recognition

Function Overview： The distance from the steps to the robot’s base_link is calculated based on the recognized points.
Topic：perception/spad/stair/distance
Msg Type s-e：std_msgs/msg/Float

Slope Angle Detection

Function Overview： Angle feedback of the slope detection area.
Topic：perception/sensor/camera/attention_region/angle
Msg Type s-e：std_msgs/msg/Float