Difference between revisions of "Category:HamsterProKit/Ros2Example"
From cogniteam
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[[File:ros2.png|400px]] | [[File:ros2.png|400px]] | ||
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| + | '''NOTE: In case no input from camera - reconnect USB realsense D435i and restart launch''' | ||
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'''''topic for platform control - /ackermann_cmd''''' | '''''topic for platform control - /ackermann_cmd''''' | ||
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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 | ||
| − | Run rqt | + | 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: | 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] | |
Latest revision as of 11:26, 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
Run plugins->topics-message publisher, use UI interface and hints
More detailed about ROS rqt:
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