Socket connection between ViSP_WS and ROS

To avoid the problem described in my last post, and to use ROS to control the robot, it's now time to connect the ViSP as a standalone system with ROS.

For that we came out with the idea of creating a TCP/IP socket connection between these two systems. This solution will ensure the robustness of the RGB-D tracking that we have already seen here. 

 


This diagram symbolizes the connection structure and the tasks that each part is responsible for. 

It is important to notice that the server will only send the pose information when a request is made by the client. This means that there will be some time delay between the real woodblock pose and the pose that is being published in ROS environment (even being the slightest lag).

 

 

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