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📊 接口概览
📦 Services (4)
1. CAM_A/camera_info
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/sensor/CAM_A/camera_info |
| Type | sensor/CameraInfo |
| Description | 左眼参数信息 |
| Note | 相机A的参数信息,相机A安装在机器人左眼的位置上，相机A的分辨率是多少 回复应包含1280和720 |
2. CAM_B/camera_info
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/sensor/CAM_B/camera_info |
| Type | sensor/CameraInfo |
| Description | 右眼参数信息 |
| Note | 相机B的参数信息，相机B安装在机器人右眼的位置上，相机B的分辨率是多少 回复应包含1280和720 |
3. CAM_C/camera_info
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/sensor/CAM_C/camera_info |
| Type | sensor/CameraInfo |
| Description | 相机C参数信息 |
| Note | 相机C的参数信息，相机C大致安装在机器人右侧太阳穴的位置上，相机C的分辨率是多少 回复应包含1280和720 |
4. CAM_D/camera_info
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/sensor/CAM_D/camera_info |
| Type | sensor/CameraInfo |
| Description | 相机D参数信息 |
| Note | 相机D的参数信息，相机D大致安装在机器人左侧太阳穴的位置上，相机D的分辨率是多少 回复应包含1280和720 |
📡 Topics (36)
1. CAM_A/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/CAM_A/compressed |
| Type | sensor_msgs/CompressedImage |
| Direction | 📤 Publish |
| Description | 左眼相机JPG |
| Note | 左眼相机的JPG图像数据 |
2. CAM_A/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/CAM_A/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 左眼相机RGB |
| Note | 左眼相机的RGB图像源数据 |
3. CAM_B/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/CAM_B/compressed |
| Type | sensor_msgs/CompressedImage |
| Direction | 📤 Publish |
| Description | 右眼相机JPG |
| Note | 右眼相机的JPG图像数据 |
4. CAM_B/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/CAM_B/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 右眼相机RGB |
| Note | 右眼相机的RGB图像源数据 |
5. CAM_C/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/CAM_C/compressed |
| Type | sensor_msgs/CompressedImage |
| Direction | 📤 Publish |
| Description | 相机C的JPG |
| Note | 右侧太阳穴相机C的JPG图像数据 |
6. CAM_C/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/CAM_C/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 相机C的RGB |
| Note | 右侧太阳穴相机C的RGB图像源数据 |
7. CAM_D/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/CAM_D/compressed |
| Type | sensor_msgs/CompressedImage |
| Direction | 📤 Publish |
| Description | 相机D的JPG |
| Note | 左侧太阳穴相机D的JPG图像数据 |
8. CAM_D/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/CAM_D/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 相机D的RGB |
| Note | 左侧太阳穴相机D的RGB图像源数据 |
9. head_imu
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/head_imu |
| Type | sensor_msgs/Imu |
| Direction | 📤 Publish |
| Description | 头部IMU数据 |
| Note | 头部IMU的目前帧率是多少 回复应接近100 |
10. realsense_down/aligned_depth_to_color/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/aligned_depth_to_color/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 腹部深度aligned参数 |
| Note | 腹部深度相机的aligned_depth_to_color参数信息 |
11. realsense_down/aligned_depth_to_color/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/aligned_depth_to_color/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 腹部深度aligned图像 |
| Note | 腹部深度相机的aligned_depth_to_color RGB图像源数据 |
12. realsense_down/aligned_depth_to_color/image_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/aligned_depth_to_color/image_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 腹部深度aligned压缩图 |
| Note | 腹部深度相机的aligned_depth_to_color压缩格式 |
13. realsense_down/color/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/color/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 腹部深度RGB参数 |
| Note | 腹部深度相机的参数信息 |
14. realsense_down/color/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/color/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 腹部深度RGB图像 |
| Note | 腹部深度相机的RGB图像源数据 |
15. realsense_down/color/image_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/color/image_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 腹部深度压缩图 |
| Note | 腹部深度相机的RGB图像JPG格式 |
16. realsense_down/depth/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/depth/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 腹部相机深度参数 |
| Note | 腹部深度相机的参数信息 |
17. realsense_down/depth/image_rect_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/depth/image_rect_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 腹部深度RGB图像 |
| Note | 腹部深度相机的RGB图像源数据 |
18. realsense_down/depth/image_rect_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_down/depth/image_rect_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 腹部深度压缩图 |
| Note | 腹部深度相机的RGB图像JPG格式 |
19. realsense_head/aligned_depth_to_color/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/aligned_depth_to_color/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 头部深度aligned参数 |
| Note | 头部深度相机的aligned_depth_to_color参数信息 |
20. realsense_head/aligned_depth_to_color/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/aligned_depth_to_color/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 头部深度aligned图像 |
| Note | 头部深度相机的aligned_depth_to_color RGB图像源数据 |
21. realsense_head/aligned_depth_to_color/image_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/aligned_depth_to_color/image_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 头部深度aligned压缩图 |
| Note | 头部深度相机的aligned_depth_to_color压缩格式 |
22. realsense_head/color/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/color/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 头部深度RGB参数 |
| Note | 头部深度相机的参数信息 |
23. realsense_head/color/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/color/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 头部深度RGB图像 |
| Note | 头部深度相机的RGB图像源数据 |
24. realsense_head/color/image_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/color/image_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 头部深度压缩图 |
| Note | 头部深度相机的RGB图像JPG格式 |
25. realsense_head/depth/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/depth/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 头部相机深度参数 |
| Note | 头部深度相机的参数信息 |
26. realsense_head/depth/image_rect_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/depth/image_rect_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 头部深度RGB图像 |
| Note | 头部深度相机的深度图像源数据 |
27. realsense_head/depth/image_rect_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_head/depth/image_rect_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 头部深度压缩图 |
| Note | 头部深度相机的深度图像JPG格式 |
28. realsense_up/aligned_depth_to_color/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/aligned_depth_to_color/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 胸部深度aligned参数 |
| Note | 胸部深度相机的aligned_depth_to_color参数信息 |
29. realsense_up/aligned_depth_to_color/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/aligned_depth_to_color/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 胸部深度aligned图像 |
| Note | 胸部深度相机的aligned_depth_to_color RGB图像源数据 |
30. realsense_up/aligned_depth_to_color/image_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/aligned_depth_to_color/image_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 胸部深度aligned压缩图 |
| Note | 胸部深度相机的aligned_depth_to_color压缩格式 |
31. realsense_up/color/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/color/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 胸部深度RGB参数 |
| Note | 胸部深度相机的参数信息 |
32. realsense_up/color/image_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/color/image_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 胸部深度RGB图像 |
| Note | 胸部深度相机的RGB图像源数据 |
33. realsense_up/color/image_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/color/image_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 胸部深度压缩图 |
| Note | 胸部深度相机的RGB图像JPG格式 |
34. realsense_up/depth/camera_info
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/depth/camera_info |
| Type | sensor_msgs/CameraInfo |
| Direction | 📤 Publish |
| Description | 胸部相机深度参数 |
| Note | 胸部深度相机的参数信息 |
35. realsense_up/depth/image_rect_raw
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/depth/image_rect_raw |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 胸部深度RGB图像 |
| Note | 胸部深度相机的RGB图像源数据 |
36. realsense_up/depth/image_rect_raw/compressed
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/sensor/realsense_up/depth/image_rect_raw/compressed |
| Type | sensor_msgs/Image |
| Direction | 📤 Publish |
| Description | 胸部深度压缩图 |
| Note | 胸部深度相机的RGB图像JPG格式 |