Interfaces

Four interfaces are provided for configuring and obtaining data from the rc_visard:

1. GigE Vision 2.0/GenICam

   Images and camera related configuration.

2. REST API

   API to configure the rc_visard, query status information, request streams, etc.

3. rc_dynamics streams

   Real-time streams containing state estimates with poses, velocities, etc. are provided over the rc_dynamics interface. It sends protobuf-encoded messages via UDP.

4. Ethernet KRL Interface (EKI)

   API to configure the rc_visard and do service calls from KUKA KSS robots.

Interfaces Contents

• GigE Vision 2.0/GenICam image interface
  • Important GenICam parameters
  • Provided image streams
  • Image stream conversions
• REST-API interface
  • General API structure
  • Available resources and requests
  • Data type definitions
  • Swagger UI
• The rc_dynamics interface
  • Starting/stopping dynamic-state estimation
  • Configuring data streams
  • Data-stream protocol
• KUKA Ethernet KRL Interface
  • Ethernet connection configuration
  • Generic XML structure
  • Services
  • Parameters
  • EKI XML configuration files
• Time synchronization
  • NTP
  • PTP