Difference between revisions of "Category:HamsterProKit/Ros2Example"

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:

ROS2_rqt

ROS_rqt