Difference between revisions of "Category:HamsterProKit/RosExample"

Latest revision as of 11:27, 7 May 2020

1. For launch SLAM example:

roslaunch hamster_launch prokit_slam_2d.launch

To visualize output run rviz and output topics:

/map - 2D map

/agent<your_agent_number>/scan - 2D scan

/agent<your_agent_number>/camera/depth/color/points - point cloud

Example image below

2. For launch wandering example:

roslaunch hamster_launch prokit_wandering.launch

Wandering with obstacle avoidance will start automatically.

3. For launch detection example:

roslaunch hamster_launch prokit_detection.launch

To see picture with detection use standard ros plugin: rqt_image_view

NOTE: In case no input from camera - reconnect USB realsense D435i

/agent<your_agent_number>/openvino_toolkit/images - topic to see detection

To control robot drive/steering use /agent1/ackermann_cmd topic.

Optionally you can publish through rqt standard ROS program:

Open new terminal, make source to ros1:

ros_prokit

Run rqt:

rqt

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

More detailed about ROS rqt:

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@@ Line 30: / Line 30: @@
 To see picture with detection use standard ros plugin:
 <code><span style="color:black"></span>rqt_image_view</code>
+'''NOTE: In case no input from camera - reconnect USB realsense D435i'''
 '''''/agent<your_agent_number>/openvino_toolkit/images''''' - topic to see detection
+To control robot drive/steering use '''/agent1/ackermann_cmd''' topic.
+Optionally you can publish through rqt standard ROS program:
+Open new terminal, make source to ros1:
+<code>ros_prokit</code>
+Run rqt:
+<code>rqt</code>
+Run plugins->topics-message publisher, use UI interface and hints
+[[File:Rqt_s.png|400px]]
+More detailed about ROS rqt:
-To control robot drive/steering use '''/agent*/ackermann_cmd''' topic.
+[http://wiki.ros.org/rqt ROS_rqt]