Difference between revisions of "Category:HamsterProKit/RosExample"
| Line 36: | Line 36: | ||
'''''/agent<your_agent_number>/openvino_toolkit/images''''' - topic to see detection | '''''/agent<your_agent_number>/openvino_toolkit/images''''' - topic to see detection | ||
| − | To control robot drive/steering use '''/ | + | To control robot drive/steering use '''/agent1/ackermann_cmd''' topic. |
Optionally you can publish through rqt standard ROS program: | Optionally you can publish through rqt standard ROS program: | ||
| Line 42: | Line 42: | ||
Open new terminal, make source to ros1: | Open new terminal, make source to ros1: | ||
| − | <code>ros_prokit<code> | + | <code>ros_prokit</code> |
Run rqt: | Run rqt: | ||
| Line 48: | Line 48: | ||
<code>rqt</code> | <code>rqt</code> | ||
| − | In the top menu open tabs plugins->topics-message publisher | + | In the top menu open tabs choose plugins->topics-message publisher |
| − | Set the topic name and press "+" like shows on the screen below | + | 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.png|400px]] | [[File:rqt.png|400px]] | ||
Revision as of 10:58, 7 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
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
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
More detailed about ROS rqt:
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