Difference between revisions of "Category:HamsterProKit/RosExample"

Revision as of 10:37, 7 May 2020

ROS1 examples

1. For launch SLAM example:

roslaunch hamster_launch prokit_slam_2d.launch

To visualize output run rviz and output topics:

/map - 2D map

/agent<your_agent_number>/scan - 2D scan

/agent<your_agent_number>/camera/depth/color/points - point cloud

Example image below

2. For launch wandering example:

roslaunch hamster_launch prokit_wandering.launch

Wandering with obstacle avoidance will start automatically.

3. For launch detection example:

roslaunch hamster_launch prokit_detection.launch

To see picture with detection use standard ros plugin: rqt_image_view

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

/agent<your_agent_number>/openvino_toolkit/images - topic to see detection

To control robot drive/steering use /agent*/ackermann_cmd topic.

Optionally you can publish through rqt standard ROS program:

Open new terminal, make source to ros1:

ros_prokit<code>

Run rqt:

<code>rqt

In the top menu open tabs plugins->topics-message publisher

Set the topic name and press "+" like shows on the screen below

More detailed about ROS rqt:

ROS_rqt