Tango Nodes Library

Tango Nodes

The Tango Nodes library is collection of Views, Nodes and Publishers that are used to create ROS apps that use/publish data from the Tango's various sensors.

Depth

The Classes useful to publish Depth data over ROS are contained in the com.ologicinc.rostango.TangoNodes.depth package.

List of Classes/Interfaces:

• DepthPublisher
  • Uses ConnectedNode as well as raw depth data to publish an image message that follows REP 118
• DepthViewSurface
  • View to show depth data
• RawImageListener
  • Interface for depth/image publishers to implement
• RosDepthViewSurface
  • Extends DepthViewSurface and passes information to the DepthPublisher
• Superframe
  • Defines the superframe format that the camera returns

Vio

The Classes useful to publish VIO data over ROS are contained in the com.ologicinc.rostango.TangoNodes.vio package.

List of Classes:

• TangoOdomPublisher
  • Uses ConnectedNode as well as raw Vio data to publish an Odometry message
• TangoPosePublisher
  • Uses ConnectedNode as well as raw Vio data to publish an Pose message
• TangoTfPublisher
  • Uses ConnectedNode as well as raw Vio data to publish an TF message
• VioNode
  • Gets Vio Data and passes it to the three publishers.