Vision drivers

This page documents the vision plugins in fp_perception_driver_vision.

DefaultDriver (ROS image subscription)

Class: fp_perception::DefaultDriver

What it does

• Subscribes to a ROS image topic using image_transport.
• Stores the latest sensor_msgs/msg/Image and returns vision_frame from captureFrame().

Parameters

• driver.vision.DefaultDriver.name (string)
• driver.vision.DefaultDriver.topic (string)

Usage

• Used when your camera feed already exists on a ROS topic.
• The perception server can optionally republish frames when interface.vision_input.publish=true.
• If use_diagnostics=true, the driver publishes frame-receive status on /diagnostics via diagnostic_updater.

OpenCVDriver (direct device capture)

Class: fp_perception::OpenCVDriver

What it does

• Opens a camera device via OpenCV (cv::VideoCapture).
• Returns vision_frame from captureFrame().

Parameters

• driver.vision.OpenCVDriver.name (string)
• driver.vision.OpenCVDriver.device_id (int)

Usage

• Used when you want the perception stack to acquire frames directly from a local camera device.
• The perception server publishes frames as sensor_msgs/msg/Image when interface.vision_input.publish=true and use_non_ros_vision_driver=true.
• If use_diagnostics=true, the driver publishes capture status on /diagnostics via diagnostic_updater.