Implementation of Homography-based 2D Visual Servoing S. Benhimane and E. Malis with ROS integration and homography estimation algorithms.
This package runs two nodes
- h_gen_node, subscribes
camera/image_rawand has a child of BaseHomographyGenerator to compute and publish projective homographyGtovisual_servo/G - h_vs_node, subscribes to
visual_servo/Gand has a Homography2DVisualServo to compute and publish angular and linear camera frame velocity tovisual_servo/twist
Overview shown below
Configurations in
- Camera intrinsics in cam_params.yml, can be generated via the camera_calibration ROS package
- Gains in gain_params.yml