Difference between revisions of "Category:HamsterProKit/RosExample"

Revision as of 08:09, 4 May 2020

ROS1 examples

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

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

To control robot drive/steering use /agent*/ackermann_cmd topic.

Optionally you can publish through rqt standard ROS program:

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

More detailed about ROS rqt:

http://wiki.ros.org/rqt

rqt_publisher