Pupil ROS Plugin

Author: Long Qian

Date: 2016-11-19

Overview

The programs in this repository interact with Pupil eye tracking device and ROS (Robot Operating System).

A pupil plugin at pupil_ros_plugin/plugins/pupil_ros_pub.py,

• Init a ROS node of pupil capture
• Publish pupil tracking results, gaze mapping results, and world image to ROS environment

A ROS script at pupil_ros_plugin/scripts/pupil_zmq_ros_pub.py

• Access pupil application via ZMQ subscriber
• Init a ROS node
• Publish pupil tracking results, gaze mapping results, world image and eye image to ROS environment

The two methods achieve almost same effect, there is no need to use both of them.

Build Custom ROS Message

Place the folder pupil_ros_plugin to your catkin workspace, and build the ROS package.

>> cd Path/To/catkin_ws
>> catkin_make
>> source devel/setup.bash

This will build four custom ROS messages: pupil, pupil_positions, gaze, gaze_positions

Pupil Plugin Usage

Copy Plugin to Pupil Environment

As suggested by pupil-labs, the plugins in pupil_ros_plugin/plugins can be copied to capture_settings/plugins, in order to make it accessible by pupil_capture application.

>> mkdir -p capture_settings/plugins
>> cp pupil_ros_plugin/plugins/* capture_settings/plugins

Run!

• Start roscore
• Launch pupil_capture
• Load plugin Pupil_ROS_Bridge, Frame_Publisher, and interact with them through GUI.
• Look at the output rostopic echo /pupil_capture/gaze, rostopic echo /pupil_capture/pupil
• Use rosrun rqt_image_view rqt_image_view to see the world image.

ROS Script Usage

Run!

• Make pupil_zmq_ros_pub.py executable

>> chmod +x scripts/pupil_zmq_ros_pub.py
>> rosrun pupil_ros_plugin pupil_zmq_ros_pub.py

• Launch pupil_capture
• Load plugin Pupil_Remote and Frame_Publisher
• Launch ROS package

>> roslaunch pupil_ros_plugin pupil_ros.launch

Demo results

Note

• An example pupil plugin is created at pupil_ros_plugin/plugins/example_plugin.py, to show the API and GUI elements of pyglui.

• The plugins and ROS script are tested on Linux 16.04 LTS and ROS Kinetic.

TODO

• Support more image format; currently, only bgr is supported.