This is the primary package used in the SDK. This package also allows for the bidirectional transfer of information between LUCI and the ROS ecosystem. This package's node allows for you to read sensor data as well as send remote joystick commands to the system.
This package points at a LUCI gRPC server and operates on a multi-threaded approach which will grab all specified LUCI sensor streams then pass them through a message type conversion and then publish them on ROS topics.
You are likely to always use this node if using the LUCI SDK.
To run a basic interface with no IR frames you need to run ros2 run luci_grpc_interface grpc_interface_node -a <chairs-ip-address>
To run the node while streaming IR frames add the -f flag followed by the rate you would like.
Example of streaming at 5fps per camera ros2 run luci_grpc_interface grpc_interface_node -a <chairs-ip-address> -f 5
Notes:
- The -f flag is optional and if nothing is passed in the IR frames will "stream" at 0 fps. You will still see the ros topic but no data will be shown.
- The best way to see the IR frames is with foxglove. See the main LUCI SDK docs for more information.
- The maximum frame rate that can be sent is 15fps. This is the rate LUCI cameras naturally stream at.
- All requested frame rates are best effort requests. This means that LUCI will do its best to maintain the FPS but network and other factors may slow the actual observed rate. In addition any rate that is not cleanly divided into 15 will not be guaranteed. For example a rate request of 5 will be honored minus any network delay but a request of 7 will result in either 7 or 8 fps.
| Package | Node |
|---|---|
| luci_grpc_interface | luci_grpc_interface_node |
| Currently Implemented | Topics | Subscription / Publish | Message Type | Description |
|---|---|---|---|---|
| yes | luci/remote_joystick | subscription | luci_messages::msg::LuciJoystick | Remote joystick values used to drive the chair (FB: xxx, LR: xxx). Value Range: [-100, 100] |
| yes | luci/drive_mode | subscription | luci_messages::msg::LuciDriveMode | Mode of chair for drive controls (USER = user drives with joystick, ENGAGED = remote command drive the chair if user is holding joystick forward, AUTO = remote commands drive chair no matter what user is doing) |
| yes | luci/joystick_position | publisher | luci_messages::msg::LuciJoystick | Joystick values of the chair (FB:xxx, LR: xxx) |
| no | luci/chair_velocity | publisher | geometry_msgs::msg::Twist | Linear and angular velocity of the chair according to onboard AHRS Note: “linear velocity” will be speed not velocity |
| coming soon | luci/all_sensor_points | publisher | sensor_msgs::msg::PointCloud2 | Full pointcloud (All LUCI sensors) |
| partially | luci/odom | publisher | nav_msgs::msg::Odometry | AHRS odom reading |
| yes | luci/imu | publisher | luci_messages::msg::LuciImu | Raw IMU data from the LUCI system |
| yes | luci/ultrasonic_points | publisher | sensor_msgs::msg::PointCloud2 | Ultrasonic pointcloud |
| yes | luci/radar_points | publisher | sensor_msgs::msg::PointCloud2 | Radar pointcloud |
| yes | luci/camera_points | publisher | sensor_msgs::msg::PointCloud2 | Camera pointcloud decimated from full resolution by 1/2 and has footbox / origin removed (~ 36,000 points) |
| yes | luci/scaling | publisher | luci_messages::msg::LuciScaling | Scaling percentage of each zone LUCI sees (100% => full ability to drive) |
| yes | luci/joystick_scaling | publisher | luci_messages::msg::LuciJoystick | Scaled Joystick values of the chair (FB:xxx, LR: xxx) |
| yes | luci/encoder | publisher | luci_messages::msg::LuciEncoders | Raw Encoder data from the LUCI system |
| yes | luci/ir_left_camera | publisher | sensor_msgs::msg::Image | Left camera’s IR frame |
| yes | luci/ir_right_camera | publisher | sensor_msgs::msg::Image | Right camera’s IR frame |
| yes | luci/ir_rear_camera | publisher | sensor_msgs::msg::Image | Rear camera’s IR frame |
| yes | luci/left_camera_info | publisher | luci_messages::msg::LuciCameraInfo | Left camera’s IR frame meta data |
| yes | luci/right_camera_info | publisher | luci_messages::msg::LuciCameraInfo | Right camera’s IR frame meta data |
| yes | luci/rear_camera_info | publisher | luci_messages::msg::LuciCameraInfo | Rear camera’s IR frame meta data |