# 感知信息API

## API明细 <a href="#api-ming-xi" id="api-ming-xi"></a>

### 纯视觉里程计（VO） <a href="#chun-shi-jue-li-cheng-ji-vo" id="chun-shi-jue-li-cheng-ji-vo"></a>

**功能概述：**&#x83B7;得快速的60hz位姿。

**Topic：**`perception/visual_slam/tracking/vo_pose`

**Msg Type s-e：**`geometry_msgs/msg/PoseStamped`

### SLAM里程计 <a href="#slam-li-cheng-ji" id="slam-li-cheng-ji"></a>

**功能概述：**&#x878D;合imu且进行了位姿优化的里程计。

**Topic：**`perception/visual_slam/tracking/Odometry`

**Msg Type s-e：**`nav_msgs/msg/Odometry`

### 姿态重置 <a href="#zi-tai-zhong-zhi" id="zi-tai-zhong-zhi"></a>

**功能概述：**&#x5C06;里程计清零。

**Topic：**`perception/visual_slam/reset`

**Msg Type s-e：**`visual_slam/reset`

**命令示例：**`ros2 service call /visual_slam/reset tita_perception_msgs/srv/Reset`

### 相机图像 <a href="#xiang-ji-tu-xiang" id="xiang-ji-tu-xiang"></a>

**功能概述：**&#x53D1;布相机去畸变后的彩色图像 60hz。

**Topic：**

`perception/sensor/camera/left`

`perception/sensor/camera/right`

**Msg Type s-e：**`sensor_msgs/msg/Image`

### 相机标定数据 <a href="#xiang-ji-biao-ding-shu-ju" id="xiang-ji-biao-ding-shu-ju"></a>

**功能概述：**&#x53D1;布相机标定数据 频率60hz。

**Topic：**

`perception/sensor/camera_info/left`

`perception/sensor/camera_info/right`

**Msg Type s-e：**`sensor_msgs/msg/CameraInfo`

### 相机点云数据 <a href="#xiang-ji-dian-yun-shu-ju" id="xiang-ji-dian-yun-shu-ju"></a>

**功能概述：**&#x76F8;机估计的深度数据，彩色点云。小于140544个点。点云距离小于5m。

**Topic：**`perception/sensor/camera/point_cloud`

**Msg Type s-e：**`sensor_msgs/msg/PointCloud2`

### 相机imu数据 <a href="#xiang-ji-imu-shu-ju" id="xiang-ji-imu-shu-ju"></a>

**功能概述：**&#x76F8;机imu加速度，角速度，姿态。

**Topic：**`perception/sensor/camera/imu`

**Msg Type s-e：**`sensor_msgs/msg/Imu`

### 前脸Tof数据 <a href="#qian-lian-tof-shu-ju" id="qian-lian-tof-shu-ju"></a>

**功能概述：**&#x524D;脸tof转换的点云数据。8x8

**Topic：**`perception/sensor/spad/face/point`

**Msg Type s-e：**`sensor_msgs/msg/PointCloud2`

### 下巴Tof数据 <a href="#xia-ba-tof-shu-ju" id="xia-ba-tof-shu-ju"></a>

**功能概述：**&#x4E0B;巴tof转换的点云数据。8x8

**Topic：**`perception/sensor/spad/neck/point`

**Msg Type s-e：**`sensor_msgs/msg/PointCloud2`

### 机器人关节坐标系 <a href="#ji-qi-ren-guan-jie-zuo-biao-xi" id="ji-qi-ren-guan-jie-zuo-biao-xi"></a>

**功能概述：**&#x540C;步关节坐标。

**Topic：**`perception/wheel/tracking/odometry`

**Msg Type s-e：**`tf2_msgs/msg/TFMessage`

### 轮式里程计 <a href="#lun-shi-li-cheng-ji" id="lun-shi-li-cheng-ji"></a>

**功能概述：**&#x77ED;距离里程计。不可记录z信息。

**Topic：**`perception/wheel/tracking/odometry`

**Msg Type s-e：**`nav_msgs/msg/Odometry`

### 坡度检测 <a href="#po-du-jian-ce" id="po-du-jian-ce"></a>

**功能概述：**&#x6839;据前方50cm到一米与机器人等宽的区域。

**Topic：**`perception/sensor/camera/attention_region`

**Msg Type s-e：**`sensor_msgs/msg/PointCloud2`

### Tof台阶检测识别点云 <a href="#tof-tai-jie-jian-ce-shi-bie-dian-yun" id="tof-tai-jie-jian-ce-shi-bie-dian-yun"></a>

**功能概述：**&#x6BCF;四个点表示一个台阶。共八个点。

**Topic：**`perception/spad/stair/point_cloud`

**Msg Type s-e：**`sensor_msgs/msg/PointCloud2`

### 台阶距离识别 <a href="#ju-li-tai-jie-de-ju-li" id="ju-li-tai-jie-de-ju-li"></a>

**功能概述：**&#x6839;据上述识别点计算的台阶距机器人base\_link的距离。

**Topic：**`perception/spad/stair/distance`

**Msg Type s-e：**`std_msgs/msg/Float`

### 坡度角度检测 <a href="#po-du-jiao-du-jian-ce" id="po-du-jiao-du-jian-ce"></a>

**功能概述：**&#x5761;度检测区域的角度反馈。

**Topic：**`perception/sensor/camera/attention_region/angle`

**Msg Type s-e：**`std_msgs/msg/Float`
