Navi机器人SDK开发指南

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realsense_up/color/image_raw ​

Description

tex
发布机器人胸口处深度相机的原始彩色图像

ROS Type: Topic

Data Type: sensor_msgs/Image.msg

Version:

  • 1.0.0 : added

CLI:

shell
rostopic echo -n 1 /zj_humanoid/sensor/realsense_up/color/image_raw

Example:

Python
import rospy
from sensor_msgs.msg import Image

def color_image_callback(msg):
    # 处理图像数据的逻辑，例如：
    # 1. 使用 cv_bridge 转换为 OpenCV 格式
    # 2. 打印图像头信息：msg.header.stamp
    rospy.loginfo("Received color image with sequence ID: %d", msg.header.seq)

if __name__ == '__main__':
    rospy.init_node('color_image_subscriber', anonymous=True)
    rospy.Subscriber('/zj_humanoid/sensor/realsense_up/color/image_raw', Image, color_image_callback)
    rospy.spin()

realsense_up/color/camera_info ​

Description

tex
发布机器人胸口处深度相机彩色图像的内参信息，如图像长宽、畸变模型、内参矩阵K等

ROS Type: Topic

Data Type: sensor_msgs/CameraInfo.msg

Version:

  • 1.0.0 : added

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/realsense_up/color/camera_info

realsense_up/depth/image_rect_raw ​

Description

tex
发布机器人胸口处深度相机的原始或经过校正的深度图像

ROS Type: Topic

Data Type: sensor_msgs/Image.msg

Version:

  • 1.0.0 : added

CLI：

Bash
rostopic echo -n 1 /zj_humanoid/sensor/realsense_up/depth/image_rect_raw

Example：

Python
import rospy
from sensor_msgs.msg import Image

def depth_image_callback(msg):
    # 深度图处理逻辑，例如：
    # 1. 检查编码格式（encoding）以确定数据类型，如 '16UC1'
    # 2. 从图像中心点读取深度值
    rospy.loginfo("Received depth image with encoding: %s", msg.encoding)

if __name__ == '__main__':
    rospy.init_node('depth_image_subscriber', anonymous=True)
    rospy.Subscriber('/zj_humanoid/sensor/realsense_up/depth/image_rect_raw', Image, depth_image_callback)
    rospy.spin()

realsense_up/depth/camera_info ​

Description

tex
发布机器人胸口处深度相机深度图像的内参信息

ROS Type: Topic

Data Type: sensor_msgs/CameraInfo.msg

Version:

  • 1.0.0 : added

CLI：

Bash
rostopic echo -n 1 /zj_humanoid/sensor/realsense_up/depth/camera_info

realsense_up/aligned_depth_to_color/image_raw ​

Description

tex
发布已对齐（Registered）的深度图像，该图像被重投影到彩色图像的坐标系和分辨率上

ROS Type: Topic

Data Type: sensor_msgs/Image.msg

Version:

  • 1.0.0 : added

CLI：

Bash
rostopic echo -n 1 /zj_humanoid/sensor/realsense_up/aligned_depth_to_color/image_raw

realsense_up/aligned_depth_to_color/camera_info ​

Description

tex
发布已对齐深度图所使用的相机内参信息

ROS Type: Topic

Data Type: sensor_msgs/CameraInfo.msg

Version:

  • 1.0.0 : added

CLI：

Bash
rostopic echo -n 1 /zj_humanoid/sensor/realsense_up/aligned_depth_to_color/camera_info

CAM_A/camera_info ​

Description

tex

ROS Type: Service

Data Type: std_srvs/Trigger.srv

Version:

  • 1.0.0 : added

CLI：

Plain
rosservice call /zj_humanoid/sensor/CAM_A/camera_info "{}"

CAM_A/image_raw ​

Description

tex
发布来自OAK相机A的原始（未压缩）**图像数据。这是进行主要计算机视觉处理（如物体检测、SLAM、特征提取）的数据源

ROS Type: Topic

Data Type: sensor_msgs/Image.msg

Version:

  • 1.0.0 : added

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/CAM_A/image_raw

CAM_A/compressed ​

Description

tex
发布来自OAK相机A的压缩后的图像数据（通常为JPEG或PNG格式）。此话题用于低带宽场景，如网络传输（例如到Rviz或Web界面）或高效的rosbag日志记录

ROS Type: Topic

Data Type: sensor_msgs/CompressedImage.msg

Version:

  • 1.0.0 : added

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/CAM_A/compressed

CAM_B/camera_info ​

Description

tex
发布OAK相机B的标定参数。此话题包含相机的内参（K矩阵）、畸变系数（D矩阵）、旋转（R）和投影（P）矩阵。这些信息对于图像去畸变和3D重建至关重要

ROS Type: Topic

Data Type: std_srvs/Trigger.srv

Version:

  • 1.0.0 : added

CAM_B/image_raw ​

Description

tex
发布来自OAK相机B的原始（未压缩）图像数据

ROS Type: Topic

Data Type: sensor_msgs/Image.msg

Version:

  • 1.0.0 : added

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/CAM_B/image_raw

CAM_B/compressed ​

Description

tex
发布来自OAK相机B的压缩后的图像数据

ROS Type: Topic

Data Type: sensor_msgs/CompressedImage.msg

Version:

  • 1.0.0 : added

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/CAM_B/compressed

CAM_C/camera_info ​

Description

tex
发布OAK相机C的标定参数。此话题包含相机的内参（K矩阵）、畸变系数（D矩阵）、旋转（R）和投影（P）矩阵。这些信息对于图像去畸变和3D重建至关重要

ROS Type: Service

Data Type: std_srvs/Trigger.srv

Version:

  • 1.0.0 : added

CAM_C/image_raw ​

Description

tex
发布来自OAK相机C的原始（未压缩）图像数据

ROS Type: Service

Data Type: sensor_msgs/Image.msg

Version:

  • 1.0.0 : added

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/CAM_C/image_raw

CAM_C/compressed ​

Description

tex
发布来自OAK相机C的压缩后的图像数据

ROS Type: Topic

Data Type: sensor_msgs/CompressedImage.msg

Version:

  • 1.0.0 : added

CAM_D/camera_info ​

Description

tex
发布OAK相机D的标定参数。此话题包含相机的内参（K矩阵）、畸变系数（D矩阵）、旋转（R）和投影（P）矩阵。这些信息对于图像去畸变和3D重建至关重要

ROS Type: Service

Data Type: std_srvs/Trigger.srv

Version:

  • 1.0.0 : added

CAM_D/image_raw ​

Description

tex
发布来自OAK相机D的原始（未压缩）图像数据

ROS Type: Topic

Data Type: sensor_msgs/Image.msg

Version:

  • 1.0.0 : added

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/CAM_D/image_raw

CAM_D/compressed ​

Description

tex
发布来自OAK相机D的压缩后的图像数据

ROS Type: Topic

Data Type: sensor_msgs/CompressedImage.msg

Version:

  • 1.0.0 : added

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/CAM_D/compressed

head_imu ​

Description

tex
发布来自机器人头部IMU（惯性测量单元）的传感器数据。这通常包括三轴的角速度、三轴的线加速度

ROS Type: Topic

Data Type: sensor_msgs/Imu.msg

Version:

  • 1.0.0 : added

  • 数据类型：

CLI：

Plain
rostopic echo -n 1 /zj_humanoid/sensor/head_imu