dexsensor 0.1.10

A Python library for processing sensor data on Dexmate Robots

DexSensor

A unified sensor management system for Dexmate robots. DexSensor provides automatic robot detection and configuration for cameras, IMU, LiDAR, and other sensors through an easy-to-use command line interface.

Features

• Automatic Robot Detection: Detects robot model and loads appropriate sensor configuration
• Multiple Robot Variants: Support for different robot models with optimized sensor configurations
• Unified Sensor Management: Consistent interface for cameras, IMU, LiDAR, and other sensors
• Real-time Communication: High-performance sensor data streaming
• Flexible Configuration: Easy configuration management with YAML files
• Command Line Interface: Simple CLI for sensor control and configuration

Installation

DexSensor is distributed as a pre-built package for Dexmate robot systems.

# Install DexSensor package
pip install dexsensor

# Verify installation
dexsensor --help

Quick Start

Automatic Robot Detection

Set your robot model and launch sensors:

# Set robot name environment variable
export ROBOT_NAME=vg-rc2    # for vega-rc2
export ROBOT_NAME=vg-1      # for vega-1

# Launch sensors with automatic detection
dexsensor launch

Manual Robot Selection

# Specify robot model explicitly
dexsensor launch --robot vega-rc2

# Launch specific sensors only
dexsensor launch --sensor head_camera base_front_camera

# Override configuration values
dexsensor launch --set head_camera.fps=60 lidar.enable=true

Supported Robot Variants

Variant	Description	Default Sensors
vega-rc1	Development setup	All sensors disabled
vega-rc2	Basic operation	Head camera + front camera
vega-1	Production setup	Head camera only
base	Full configuration	All sensors available

Command Line Interface

Launch Sensors

# Basic usage
dexsensor launch

# With specific robot model
dexsensor launch --robot vega-rc2

# Launch specific sensors
dexsensor launch --sensor head_camera lidar

# Launch all sensors (enables all sensors regardless of default config)
dexsensor launch --sensor all

# Launch all base cameras (base_left, base_right, base_front, base_back)
dexsensor launch --sensor base_camera

# Override configuration
dexsensor launch --set head_camera.fps=60 lidar.enable=true

# Use custom configuration file
dexsensor launch --config /path/to/config.yaml

# Combine options
dexsensor launch --robot vega-1 --set head_camera.fps=30 --sensor head_camera

Configuration Management

# Generate configuration template
dexsensor gen-cfg

# Generate for specific robot model
dexsensor gen-cfg --robot vega-rc2

# Save to custom location
dexsensor gen-cfg --robot vega-1 --output /path/to/config.yaml

Command Options

Option	Description	Example
--robot	Specify robot variant	--robot vega-rc2
--sensor	Launch specific sensors, "all", or "base_camera"	--sensor head_camera lidar, --sensor all, or --sensor base_camera
--config	Use custom config file	--config config.yaml
--set	Override config values	--set head_camera.fps=60
--zenoh	Custom Zenoh config	--zenoh zenoh.json5

Configuration

Configuration Files

DexSensor uses YAML configuration files with the following precedence:

1. Command line overrides (--set key=value)
2. Custom configuration files (--config file.yaml)
3. Default configuration file (~/.dexmate/sensors/default_config.yaml)
4. Robot variant defaults (based on detected/specified robot model)

Configuration Example

head_camera:
  enable: true
  fps: 30
  resolution: HD1080
  depth_mode: NEURAL

base_front_camera:
  enable: true
  width: 640
  height: 480
  fps: 30
  format: MJPG

lidar:
  enable: false
  ip_address: "192.168.50.41"
  udp_port: 8089

base_imu:
  enable: true

head_imu:
  enable: true

Environment Variables

Variable	Description	Example
ROBOT_NAME	Robot model for auto-detection	export ROBOT_NAME=vg-rc2

Sensor Types

DexSensor supports the following sensor types:

• Cameras: RGB cameras, stereo cameras (ZED), RGBD cameras
• IMU: Inertial measurement units for head and base
• LiDAR: 2D laser range finders
• Additional sensors: Extensible for future sensor types

System Requirements

• Operating System: Linux (Ubuntu 20.04+ recommended)
• Python: 3.10 or higher
• Hardware: Compatible Dexmate robot hardware
• Network: Ethernet connection for sensor communication

Troubleshooting

Common Issues

Sensors not detected:

# Check robot name is set
echo $ROBOT_NAME

# Verify configuration
dexsensor gen-cfg --robot vega-rc2

Permission errors:

# Check USB device permissions
sudo usermod -a -G dialout $USER
# Log out and back in

Network connectivity:

# Test sensor network connectivity
ping 192.168.50.41  # Example LiDAR IP

Log Files

DexSensor logs are available at:

• System logs: /var/log/dexsensor/
• User logs: ~/.dexmate/logs/

Support

For technical support and documentation:

• Documentation: Contact your Dexmate representative
• Technical Support: [e-mail]
• Sales Inquiries: [e-mail]

License

DexSensor is proprietary software licensed exclusively for use with Dexmate robot systems.

Copyright © 2024 Dexmate. All rights reserved.