1. IGRIS-C Camera Topic List

• Data Topic - igris_c::msg::dds::CompressedMessage

  TopicName	Description
  igris_c/sensor/d435_color	RealSense D435 RGB image data
  igris_c/sensor/d435_depth	RealSense D435 depth image data
  igris_c/sensor/eyes_stereo	IGRIS-C head stereo camera image data
  igris_c/sensor/left_hand	IGRIS-C left hand end-effector image data
  igris_c/sensor/right_hand	IGRIS-C right hand end-effector image data

• Service

  TopicName	Message Type	Description
  igris_c/sensor/realsense_config_request	igris_c::msg::dds::RealsenseConfigRequest	RealSense D435 configuration service
  igris_c/sensor/stereo_config_request	igris_c::msg::dds::StereoConfigRequest	IGRIS-C head stereo camera configuration service
  igris_c/sensor/mono_config_request	igris_c::msg::dds::MonoConfigRequest	IGRIS-C hand end-effector camera configuration service
  igris_c/sensor/camera_config_response	igris_c::msg::dds::ServiceResponse	Configuration service response

2. Camera Topic & Service API

• SDK Initialization

#include <igris_sdk/channel_factory.hpp>
#include <igris_sdk/igris_c_client.hpp>
#include <igris_sdk/igris_c_msgs.hpp>
#include <igris_sdk/subscriber.hpp>

using namespace igris_sdk;
using CompressedMessage = igris_c::msg::dds::CompressedMessage;

int main() {
    // Initialize SDK with domain ID
    int domain_id = 0;
    ChannelFactory::Instance()->Init(domain_id);
    if (!ChannelFactory::Instance()->IsInitialized()) {
        std::cerr << "Failed to initialize ChannelFactory" << std::endl;
        return 1;
    }

    // Initialize service client
    IgrisC_Client client;
    client.Init();
    client.SetTimeout(10.0f);  // Set the default timeout to 10 seconds

    // Service calls...
}

• Image Subscriber Example

  Subscriber<CompressedMessage> sub("igris_c/sensor/d435_color");
  
  sub.init([](const CompressedMessage &msg) {
      cv::Mat raw(1, msg.image_data().size(), CV_8UC1,
                  const_cast<uint8_t*>(msg.image_data().data()));
  
      cv::Mat img = cv::imdecode(raw, cv::IMREAD_UNCHANGED);
  });
  

  • JPEG-compressed image transmission

• Image Subscriber Example

  #include <dds/dds.hpp>
  #include <igris_sdk/igris_c_msgs.hpp>
  
  #include <chrono>
  #include <iostream>
  #include <thread>
  
  using namespace igris_c::msg::dds;
  
  int main() {
      int domain_id = 10;
  
      // Create DDS participant
      dds::domain::DomainParticipant participant(domain_id);
      dds::pub::Publisher publisher(participant);
      dds::sub::Subscriber subscriber(participant);
  
      // Define topics
      dds::topic::Topic<StereoConfigRequest> req_topic(
          participant, "igris_c/sensor/stereo_config_request");
  
      dds::topic::Topic<ServiceResponse> res_topic(
          participant, "igris_c/sensor/camera_config_response");
  
      // Create writer and reader
      dds::pub::DataWriter<StereoConfigRequest> writer(publisher, req_topic);
      dds::sub::DataReader<ServiceResponse> reader(subscriber, res_topic);
  
      // Create request ID
      std::string request_id = "req_001";
  
      // =========================
      // Build request
      // =========================
      StereoConfigRequest req;
      req.request_id(request_id);
      req.stereo_width(1280);
      req.stereo_height(480);
      req.stereo_fps(30);
      req.stereo_jpeg_quality(90);
      req.enable_stereo(true);
  
      // publish
      writer.write(req);
      std::cout << "[publish] StereoConfigRequest sent\n";
  
      // =========================
      // Wait for response
      // =========================
      auto start = std::chrono::steady_clock::now();
      int timeout_ms = 5000;
  
      while (true) {
          auto samples = reader.take();
  
          for (auto &s : samples) {
              if (!s.info().valid()) continue;
  
              const auto &res = s.data();
  
              if (res.request_id() == request_id) {
                  std::cout << "\n=== Response ===\n";
                  std::cout << "success: " << res.success() << "\n";
                  std::cout << "message: " << res.message() << "\n";
                  std::cout << "error_code: " << res.error_code() << "\n";
                  return 0;
              }
          }
  
          // Check timeout
          auto now = std::chrono::steady_clock::now();
          auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(now - start).count();
          if (elapsed > timeout_ms) {
              std::cout << "[timeout] no response\n";
              break;
          }
  
          std::this_thread::sleep_for(std::chrono::milliseconds(50));
      }
  
      return 0;
  }
  

  
  
  * Examples are available in the GitHub repository:

  • https://github.com/robrosinc/igris_c_sdk_public

    • Image data subscription in C++

    • Image data subscription in Python

    • Camera configuration service in C++