This page provides in-depth details about the Landmark Node.

Contents

Node Description


Landmark 5 1.png


Landmark Node


The Landmark Node when active, re-registers its associated landmark, i.e., updates the landmark’s position and orientation relative to the base frame of the robot based on its observed position and orientation. This has the effect of updating the position and orientation of any Move To nodes and/or frames which have the landmark as a parent frame. This is an extremely powerful capability. See Robot Positioning System for more information.


Note: Landmark Nodes are typically used in the initialization phase of a task to re-register landmarks associated with physical entities with which the robot interacts during the task, e.g. machines, fixtures, conveyors, testers, trays, bins etc.


Node Editor


Landmark Node Inspector.png Landmark Node with Snapshot.PNG


  • ID

Not editable

  • Name

Auto generated and user editable

  • Failure Timeout

How long to wait for detection and re-registration to complete. If it doesn’t occur within that time frame, the node returns an error.

  • Throw Light Error

Turning on this option will trigger an error if the camera detects that the exposure of the landmark is too light or too dark. This is an error that can stop the task operation or be handled with task logic.

  • Snapshot or Landmark

This menu gives the list of available snapshots from which to choose. Landmarks themselves are created and initially registered using the Snapshot Editor.

  • Camera Arm Pose

When enabled, this automatically creates an arm pose associated with the snapshot pose before searching for the Landmark. Disabling this allows the ability to create a separate Move To node before the Landmark node in the behavior tree.

  • Motion Type

Defines the motion type (joint or linear) to be used when moving the arm camera into the landmark detection pose.

  • Motion Preset

Defines the arm speed to be used when moving the arm camera into the landmark detection pose.