Difference between revisions of "Category:HamsterProKit/Ros2Example"
| Line 14: | Line 14: | ||
| − | '''''topic for platform control - /ackermann_cmd''''' | + | '''''topic for platform control - /ackermann_cmd'''''[[File:Rqt_ss.png|400px]] |
Optionally you can publish through rqt standard ROS program, ROS2 usage same like ROS | Optionally you can publish through rqt standard ROS program, ROS2 usage same like ROS | ||
| Line 28: | Line 28: | ||
In the top menu open tabs choose plugins->topics-message publisher | In the top menu open tabs choose plugins->topics-message publisher | ||
| − | Set the topic name to | + | Set the topic name to ackermann_cmd and press on the right green "+" like shows on the screen below - this will add topic to UI |
Run rqt->plugins->topics-message publisher, use UI interface and hints. | Run rqt->plugins->topics-message publisher, use UI interface and hints. | ||
| − | [[File: | + | Open new terminal, make source to ros1: |
| + | |||
| + | <code>ros_prokit</code> | ||
| + | |||
| + | Run rqt: | ||
| + | |||
| + | <code>rqt</code> | ||
| + | |||
| + | In the top menu open tabs choose plugins->topics-message publisher | ||
| + | |||
| + | Set the topic name to /agent1/ackermann_cmd and press on the right green "+" like shows on the screen below - this will add topic to UI | ||
| + | |||
| + | [[File:Rqt_ss.png|400px]] | ||
More detailed about ROS rqt: | More detailed about ROS rqt: | ||
Revision as of 11:19, 7 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
Open new terminal, make source to ros2:
ros2_prokit
Run rqt:
rqt
In the top menu open tabs choose plugins->topics-message publisher
Set the topic name to ackermann_cmd and press on the right green "+" like shows on the screen below - this will add topic to UI
Run rqt->plugins->topics-message publisher, use UI interface and hints.
Open new terminal, make source to ros1:
ros_prokit
Run rqt:
rqt
In the top menu open tabs choose plugins->topics-message publisher
Set the topic name to /agent1/ackermann_cmd and press on the right green "+" like shows on the screen below - this will add topic to UI
More detailed about ROS rqt:
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