Difference between revisions of "Category:HamsterProKit/Ros2Example"

Latest revision as of 11:26, 7 May 2020

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

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

More detailed about ROS rqt:

This category currently contains no pages or media.

@@ Line 6: / Line 6: @@
 <code>ros2 launch hamster_driver ros2_camera_and_driver.launch.py</code>
+You should see something like:
+[[File:ros2.png|400px]]
+'''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:
+<code>ros2_prokit</code>
+Run rqt:
+<code>rqt</code>
+Run plugins->topics-message publisher, use UI interface and hints
+[[File:Rqt_ss.png|400px]]
+More detailed about ROS rqt:
+[https://index.ros.org/doc/ros2/Tutorials/RQt-Overview-Usage/#rqt-components-structure ROS2_rqt]
+[http://wiki.ros.org/rqt ROS_rqt]