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start starts the component by transitioning from IDLE to RUNNING.
When running, the component receives images from the stereo camera and is ready to perform tag detec-
tions. To save computing resources on the sensor, the component should only be running when necessary.
This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
stop stops the component by transitioning to IDLE.
This transition can be performed from state RUNNING and FATAL. All tag re-identification information is
cleared during stopping.
This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
restart restarts the component. If in RUNNING or FATAL, the component will be stopped and then started. If in
IDLE, the component will be started.
This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
detect triggers a tag detection. Depending on the use
_
cached
_
images parameter, the component will use the
latest received image pair (if set to true) or wait for a new pair that is captured after the service call was
triggered (if set to false, this is the default). Even if set to true, tag detection will never use one image pair
twice.
It is recommended to call detect in state RUNNING only. It is also possible to be called in state IDLE,
resulting in an auto-start and stop of the component. This, however, has some drawbacks: First, the call will
take considerably longer; second, tag re-identification will not work. It is therefore highly recommended to
manually start the component before calling detect.
This service requires the following arguments:
{
"tags": [
{
"id": "string",
"size": "float64"
}
]
}
This service returns the following response:
{
"return
_
code": {
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7.3. TagDetect 81