Difference between revisions of "Category:HamsterProKit/RosExample"
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Revision as of 11:26, 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
Run rqt->plugins->topics-message publisher, use UI interface and hints
More detailed about ROS rqt:
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