Difference between revisions of "Integrate roslaunch into Roslaunch"
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(Created page with "== Create FloorHugger Package == Create a FloorHugger package to house the launch scripts. cd ~/catkin_ws_indigo/src catkin_create_pkg floor_hugger . catkin_ws_i...") |
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* pkg: in the pacage this is all in | * pkg: in the pacage this is all in | ||
− | == CamShift Launch == | + | == CamShift Launch Script == |
cat camshift_rotate.launch<launch> | cat camshift_rotate.launch<launch> | ||
Line 50: | Line 50: | ||
/> | /> | ||
</launch> | </launch> | ||
+ | |||
+ | == Execute == | ||
+ | |||
+ | roslaunch floor_hugger camshift_rotate.launch | ||
+ | |||
+ | == Investigate == | ||
+ | |||
+ | rosnode list | ||
+ | /motor_node | ||
+ | /move_node | ||
+ | /rosout | ||
+ | /tracker_node | ||
+ | /usb_cam | ||
+ | |||
+ | rostopic list | ||
+ | /cmd_vel | ||
+ | /odom | ||
+ | /phidgets/motorcontrol | ||
+ | /rosout | ||
+ | /rosout_agg | ||
+ | /tracker | ||
+ | /usb_cam/camera_info | ||
+ | /usb_cam/image_raw | ||
+ | |||
+ | rqt_graph | ||
+ | |||
+ | [[Image:CamshiftGraph.png | 800px]] |
Latest revision as of 16:45, 29 February 2016
Create FloorHugger Package
Create a FloorHugger package to house the launch scripts.
cd ~/catkin_ws_indigo/src catkin_create_pkg floor_hugger . catkin_ws_indigo/devel/setup.bash
Test
cp ...../usb_cam_server.launch ~/catkin_ws_indigo/src/floor_hugger/launch roslaunch floor_hugger usb_cam_server.launch cat camshift_rotate.launch <launch> <node name="move_node" pkg="follow" type="move_it" output="screen" /> </launch>
- type: is binary generated from move_it.cpp
- name: overrides moveNode in above source
- pkg: in the pacage this is all in
CamShift Launch Script
cat camshift_rotate.launch<launch> <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > <param name="video_device" value="/dev/video0" /> <param name="image_width" value="320" /> <param name="image_height" value="240" /> <param name="pixel_format" value="mjpeg" /> <param name="camera_frame_id" value="usb_cam" /> <param name="io_method" value="mmap"/> </node> <node name="tracker_node" pkg="follow" type="cam_shift_tracker" output="screen" /> <node name="move_node" pkg="follow" type="move_it" output="screen" /> <node name="motor_node" pkg="phidgets" type="motor_control_hc" output="screen" /> </launch>
Execute
roslaunch floor_hugger camshift_rotate.launch
Investigate
rosnode list /motor_node /move_node /rosout /tracker_node /usb_cam rostopic list /cmd_vel /odom /phidgets/motorcontrol /rosout /rosout_agg /tracker /usb_cam/camera_info /usb_cam/image_raw rqt_graph