Difference between revisions of "Building a Webcam Display"
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* [http://wiki.ros.org/ROS/Tutorial InstallingandConfiguringROSEnvironment] | * [http://wiki.ros.org/ROS/Tutorial InstallingandConfiguringROSEnvironment] | ||
* [http://wiki.ros.org/ROS/Tutorials/CreatingPackage Creating a Package] | * [http://wiki.ros.org/ROS/Tutorials/CreatingPackage Creating a Package] | ||
| + | * Quigley, Gerkey & Smart chapter 2 | ||
* [http://wiki.ros.org/image_transport/Tutorials Image Transport Tutorials] | * [http://wiki.ros.org/image_transport/Tutorials Image Transport Tutorials] | ||
== Build the Workspace == | == Build the Workspace == | ||
| − | === For Jade === | + | === For Jade (or Indigo) === |
| − | + | The following is done in the Jade environment (bashrc had the following). | |
source /opt/ros/jade/setup.bash | source /opt/ros/jade/setup.bash | ||
| Line 23: | Line 24: | ||
. ~/catkin_ws/devel/setup.bash | . ~/catkin_ws/devel/setup.bash | ||
| − | + | To move to Indigo I started with a clean directory and made appropriate modifications, e.g.: | |
| + | mkdir -p ~/catkin_ws_indigo/src | ||
| − | + | === .bashrc For Indigo === | |
| − | + | ||
| + | Experiment - setup.bash add this workspace to ROS_PACKAGE_PATH in a particular shell. I did the above in the Indigo environment - when bashrc had the following. | ||
| + | source /opt/ros/indigo/setup.bash | ||
| + | |||
echo $ROS_PACKAGE_PATH | echo $ROS_PACKAGE_PATH | ||
/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/eepp/ros_packages | /opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/eepp/ros_packages | ||
| Line 33: | Line 37: | ||
echo $ROS_PACKAGE_PATH | echo $ROS_PACKAGE_PATH | ||
/home/eepp/catkin_ws_indigo/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks | /home/eepp/catkin_ws_indigo/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks | ||
| + | |||
| + | also added the following to .bashrc | ||
| + | source /home/eepp/catkin_ws_indigo/devel/setup.bash | ||
== Package Setup == | == Package Setup == | ||
| Line 42: | Line 49: | ||
In <tt>~/catkin_ws/src/follow</tt> | In <tt>~/catkin_ws/src/follow</tt> | ||
| − | * [[ | + | * [[CMakeLists.txt v1]] |
* [[Camera Display package.xml]] | * [[Camera Display package.xml]] | ||
| Line 58: | Line 65: | ||
TBD: clean up the next line | TBD: clean up the next line | ||
| + | roscore | ||
rosrun usb_cam usb_cam_node ~video_device "/dev/video0" | rosrun usb_cam usb_cam_node ~video_device "/dev/video0" | ||
rosrun follow camera_display | rosrun follow camera_display | ||
| + | |||
| + | |||
| + | [[Image:CameraDisplayView.png]] | ||
Latest revision as of 12:51, 29 February 2016
Contents
Tutorials
- InstallingandConfiguringROSEnvironment
- Creating a Package
- Quigley, Gerkey & Smart chapter 2
- Image Transport Tutorials
Build the Workspace
For Jade (or Indigo)
The following is done in the Jade environment (bashrc had the following).
source /opt/ros/jade/setup.bash
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src/ catkin_init_workspace cd .. catkin_make . devel/setup.bash echo $ROS_PACKAGE_PATH cd src/ catkin_create_pkg follow std_msgs rospy roscpp cd .. catkin_make . ~/catkin_ws/devel/setup.bash
To move to Indigo I started with a clean directory and made appropriate modifications, e.g.:
mkdir -p ~/catkin_ws_indigo/src
.bashrc For Indigo
Experiment - setup.bash add this workspace to ROS_PACKAGE_PATH in a particular shell. I did the above in the Indigo environment - when bashrc had the following.
source /opt/ros/indigo/setup.bash
echo $ROS_PACKAGE_PATH
/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/eepp/ros_packages
. devel/setup.bash
echo $ROS_PACKAGE_PATH
/home/eepp/catkin_ws_indigo/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
also added the following to .bashrc
source /home/eepp/catkin_ws_indigo/devel/setup.bash
Package Setup
TBD: First pass - all these files need to be cleaned up.
- Subscribing To Images. The tutorial where I got the code.
In ~/catkin_ws/src/follow
In ~/catkin_ws/src/follow/src
- camera_display.cpp my modified source
Build
cd ~/catkin_ws catkin_make
Test
TBD: clean up the next line
roscore rosrun usb_cam usb_cam_node ~video_device "/dev/video0" rosrun follow camera_display
