visp.orogen

name "visp"

using_library "visp"
using_library "frame_helper"

import_types_from "base"
import_types_from "frame_helper/Calibration.h"
import_types_from "vispTypes.hpp"
import_types_from "auv_control"
import_types_from "apriltags"

task_context "Task" do
needs_configuration

    # Select the visual servoing architecture: IBVS, PBVS or HVS(2 1/2D)
    property("architecture", "visp/architecture")
    # Set the gain of the visual controller
    property("gain", "float")
    # Switch between adaptive or manual gain
    property("use_adaptive_gain", "bool")
    # Switch between adaptive or manual gain
    property("adaptive_gains", "visp/adaptiveGains")
    # Camera calibration parameters
    property("camera_parameters", "frame_helper/CameraCalibration")
    # Defines the controlled degrees of freedom
    property("expected_inputs", "visp::expectedInputs")
    # Set the maximum absolute value for the output ports
    property("saturation", "visp::saturationValues")
    # In case of multiple detected objets, this properties set the target object
    # in which the robot will perform the visual servoing
    property("target_list", "/std/vector<visp::targetObjectParameters>")
    # In case of multiple detected objects, this property set the target object
    # in which the robot will perform the visual servoing
    property("desired_target", "string", "").dynamic
    # Adjust the calibration parameters if the image was scaled in the feature
    # provider
    property("scaling", "double", 1.0)

    # Position setpoint in respect to the marker frame
    input_port "cmd_in", "/base/LinearAngular6DCommand"
    # Input data to the controlller
    input_port "marker_corners", "std/vector<apriltags/VisualFeaturePoint>"
    # The control signal, velocities.
    output_port "cmd_out", "base/LinearAngular6DCommand"
    # Output relevant information about the controller
    # such as error, residual, desired and current position
    output_port "controller_state", "visp/controllerState"

    port_driven 'marker_corners'

    transformer do
        transform 'body', 'camera'
        max_latency 0.1
    end

    runtime_states :WAITING_SETPOINT, :WAITING_CORNERS, :CONTROLLING

end