{"id":114372,"date":"2024-06-27T08:47:56","date_gmt":"2024-06-27T00:47:56","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=114372"},"modified":"2025-06-20T10:12:58","modified_gmt":"2025-06-20T02:12:58","slug":"using-tm-ros-driver-to-get-eih-images","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/de\/docs\/using-tm-ros-driver-to-get-eih-images\/","title":{"rendered":"Using TM ROS Driver to Get EIH Images"},"content":{"rendered":"<p>Examples are valid for:<\/p>\n<p>TMflow Software version: 2.16<\/p>\n<p>TM Robot Hardware version: Only provide HW3.2 or above<\/p>\n<p><span style=\"text-decoration: underline;\">Prerequisites<\/span><\/p>\n<ul>\n<li>Programming with ROS, especially with ROS 2 Foxy version<\/li>\n<li>Installing and basic usage of TM ROS Driver<\/li>\n<li>Familiar of using TMflow 2.16, especially with TMvision<\/li>\n<\/ul>\n<p>Note that older or newer software versions may have different results.<\/p>\n<hr \/>\n<p>&nbsp;<\/p>\n<p>TM ROS Driver can receive the source image from the vision job (with External Detection) and publish it as a ROS topic. Users may go through the following steps to do so.<\/p>\n<p>Clone and build the TM ROS Driver Repository to the corresponding workplace.<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449427600.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-114379\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449427600.jpg\" alt=\"\" width=\"1008\" height=\"126\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449427600.jpg 1008w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449427600-300x38.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449427600-768x96.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449427600-360x45.jpg 360w\" sizes=\"(max-width: 1008px) 100vw, 1008px\" \/><\/a>Run the TM Vision ROS Driver,<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449463194.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-114385\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449463194.jpg\" alt=\"\" width=\"1008\" height=\"54\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449463194.jpg 1008w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449463194-300x16.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449463194-768x41.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449463194-360x19.jpg 360w\" sizes=\"(max-width: 1008px) 100vw, 1008px\" \/><\/a><\/p>\n<p>Then, on the robot, create and edit a Vision Node on a flow project.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448959102.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-114336\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448959102.jpg\" alt=\"\" width=\"1090\" height=\"349\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448959102.jpg 1090w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448959102-300x96.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448959102-1024x328.jpg 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448959102-768x246.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448959102-360x115.jpg 360w\" sizes=\"(max-width: 1090px) 100vw, 1090px\" \/><\/a><\/p>\n<p>Select AOI-only as the vision job type. Set up the proper initial position and camera parameters.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448989410.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-114342\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448989410.jpg\" alt=\"\" width=\"869\" height=\"613\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448989410.jpg 869w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448989410-300x212.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448989410-768x542.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719448989410-360x254.jpg 360w\" sizes=\"(max-width: 869px) 100vw, 869px\" \/><\/a><\/p>\n<p>Then, select Find &gt; External Detection, which adds an External Detection Node to the vision job flow.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449538948.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-114391\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449538948.jpg\" alt=\"\" width=\"904\" height=\"510\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449538948.jpg 904w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449538948-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449538948-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449538948-360x203.jpg 360w\" sizes=\"(max-width: 904px) 100vw, 904px\" \/><\/a><\/p>\n<p>Now, set up External Detection. To test the connection with TM ROS Driver, enter <em>http:\/\/<span style=\"color: #339966;\">&lt;ip address&gt;<\/span>:6189\/api<\/em> on <strong>Get<\/strong> and click <strong>Send<\/strong>. Note that, <span style=\"color: #339966;\"><em>&lt;ip address&gt; <\/em><\/span>represents the IP address of the computer where the TM Vision ROS driver is running. If it is good, the textbox will receive a message presented in JSON format. Then, set the URL of Inference POST to <em>http:\/\/<span style=\"color: #339966;\">&lt;ip address&gt;<\/span>:6189\/api \/DET<\/em> and the rest of the parameters. For more about External Detection, refer to <em>Software Manual: TMvision<\/em>.<\/p>\n<p><img loading=\"lazy\" class=\"aligncenter size-full wp-image-114397\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449563665.jpg\" alt=\"\" width=\"1094\" height=\"618\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449563665.jpg 1094w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449563665-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449563665-1024x578.jpg 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449563665-768x434.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449563665-360x203.jpg 360w\" sizes=\"(max-width: 1094px) 100vw, 1094px\" \/><\/p>\n<p>The image topic techman_image will start publishing once the flow project is running. On the other hand, users can use their own ROS Node to subscribe to the image topic. Or, run the sample program on the repository.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449604272.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-114403\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449604272.jpg\" alt=\"\" width=\"1008\" height=\"126\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449604272.jpg 1008w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449604272-300x38.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449604272-768x96.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449604272-360x45.jpg 360w\" sizes=\"(max-width: 1008px) 100vw, 1008px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449636940.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-114409\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449636940.jpg\" alt=\"\" width=\"1065\" height=\"629\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449636940.jpg 1065w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449636940-300x177.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449636940-1024x605.jpg 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449636940-768x454.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1719449636940-360x213.jpg 360w\" sizes=\"(max-width: 1065px) 100vw, 1065px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for: TMflow Software version: 2.16 TM Robot Hardware version: Only provide HW3.2 or above Prerequisites Programming with ROS, especially with ROS 2 Foxy version Installing and basic usage of TM ROS Driver Familiar of using TMflow 2.16, especially with TMvision Note that older or newer software versions may have different results. &nbsp; [&hellip;]<\/p>\n","protected":false},"author":8760,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4591],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Using TM ROS Driver to Get EIH Images | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"de_DE\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Using TM ROS Driver to Get EIH Images | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"Examples are valid for: TMflow Software version: 2.16 TM Robot Hardware version: Only provide HW3.2 or above Prerequisites Programming with ROS, especially with ROS 2 Foxy version Installing and basic usage of TM ROS Driver Familiar of using TMflow 2.16, especially with TMvision Note that older or newer software versions may have different results. &nbsp; 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