Difference between revisions of "Category:HamsterProKit/Ros2Example"

Revision as of 08:38, 4 May 2020

ROS2 example

For ros2 available driver pkg for drive/steering control and ros2_intel_realsense launch.

ros2 launch hamster_driver ros2_camera_and_driver.launch.py

You should see something like:

NOTE: In case no input from camera - reconnect USB realsense D435i and restart launch

topic for platform control - /ackermann_cmd

Optionally you can publish through rqt standard ROS program, ROS2 usage same like ROS

Run rqt->plugins->topics-message publisher, use UI interface and hints.

More detailed about ROS rqt:

http://wiki.ros.org/rqt

rqt_publisher

https://index.ros.org/doc/ros2/Tutorials/RQt-Overview-Usage/#rqt-components-structure