Perception Algorithm Development Example

Overview

This example demonstrates how to obtain camera video data from the DR02 via ROS2 topics and the RTSP protocol.

Camera Video Stream Acquisition

Camera Type	RTSP Address
Wide-Angle Camera	rtsp://10.21.31.103:8554/video1

Developers can pull RTSP video streams from the front and rear wide-angle cameras using the above addresses.

RTSP Stream Pull Example

import cv2

# Acquire camera feed via RTSP
cap = cv2.VideoCapture("rtsp://10.21.31.103:8554/video1")

if not cap.isOpened():
    print("Unable to open video stream")
    exit()

while True:
    ret, frame = cap.read()
    if not ret:
        print("Unable to read frame")
        break

    # Add perception algorithm processing here
    # process_frame(frame)

    cv2.imshow("Camera Feed", frame)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

cap.release()
cv2.destroyAllWindows()

Sensor Driver Topics

The DR02 publishes sensor data via ROS2. Developers can subscribe to the following topics to obtain data:

Topic Name	Description	Message Type
/IMU_DATA_BODY	Body IMU data	sensor_msgs/msg/Imu
/IMU_DATA_LEG	Leg IMU data	sensor_msgs/msg/Imu