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:

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@@ Line 26: / Line 26: @@
 <code>rqt</code>
-In the top menu open tabs choose plugins->topics-message publisher
+Run plugins->topics-message publisher, use UI interface and hints
-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:
-<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]]