luci_grpc_interface

summary:

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.

Use

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