ROS Usage

Compile and run the node according to ROS Installation.

rostopic list lists all released nodes:

/mynteye/depth/camera_info
/mynteye/depth/image_raw
/mynteye/depth/image_raw/compressed
/mynteye/depth/image_raw/compressed/parameter_descriptions
/mynteye/depth/image_raw/compressed/parameter_updates
/mynteye/depth/image_raw/compressedDepth
/mynteye/depth/image_raw/compressedDepth/parameter_descriptions
/mynteye/depth/image_raw/compressedDepth/parameter_updates
/mynteye/depth/image_raw/theora
/mynteye/depth/image_raw/theora/parameter_descriptions
/mynteye/depth/image_raw/theora/parameter_updates
/mynteye/imu/data_raw
/mynteye/imu/data_raw_processed
/mynteye/left/camera_info
/mynteye/left/image_color
/mynteye/left/image_color/compressed
...

rostopic hz <topic> checks the data:

subscribed to [/mynteye/imu/data_raw]
average rate: 202.806
    min: 0.000s max: 0.021s std dev: 0.00819s window: 174
average rate: 201.167
    min: 0.000s max: 0.021s std dev: 0.00819s window: 374
average rate: 200.599
    min: 0.000s max: 0.021s std dev: 0.00819s window: 574
average rate: 200.461
    min: 0.000s max: 0.021s std dev: 0.00818s window: 774
average rate: 200.310
    min: 0.000s max: 0.021s std dev: 0.00818s window: 974
  ...

rostopic echo <topic> can print and release data. Please read rostopic for more information.

The ROS file is structured like follows:

<sdk>/wrappers/ros/
├─src/
  └─mynteye_wrapper_d/
     ├─launch/
     │  ├─display.launch
     │  └─mynteye.launch
     │  └─slam
     │     ├─orb_slam2.launch
     │     └─vins_fusion.launch
     │     └─vins_mono.launch
     ├─msg/
     ├─rviz/
     ├─src/
     │  ├─mynteye_listener.cc
     │  └─mynteye_wrapper_nodelet.cc
     │  └─mynteye_wrapper_node.cc
     │  └─pointcloud_generatort.cc
     │  └─pointcloud_generator.h
     ├─CMakeLists.txt
     ├─nodelet_plugins.xml
     └─package.xml

In mynteye.launch ,you can configure topics and frame_ids ,decide which data to enable, and set the control options.Please refer

to Support Resolutions to set frame rate and resolution. Please set

gravity to the local gravity acceleration.

<!-- Camera Params -->

<!-- Device index -->
<arg name="dev_index" default="0" />
<!-- Framerate -->
<arg name="framerate" default="30" />

<!--
Device mode
  device_color: left_color ✓ right_color ? depth x
  device_depth: left_color x right_color x depth ✓
  device_all:   left_color ✓ right_color ? depth ✓
Note: ✓: available, x: unavailable, ?: depends on #stream_mode
-->
<arg name="dev_mode" default="$(arg device_all)" />

<arg name="color_mode" default="$(arg color_raw)" />
<!-- Note: must set DEPTH_RAW to get raw depth values for points -->
<arg name="depth_mode" default="$(arg depth_raw)" />
<arg name="stream_mode" default="$(arg stream_2560x720)" />

<!-- Auto-exposure -->
<arg name="state_ae" default="true" />
<!-- Auto-white balance -->
<arg name="state_awb" default="true" />
<!-- IR intensity -->
<arg name="ir_intensity" default="4" />
<!-- IR Depth Only -->
<arg name="ir_depth_only" default="false" />

<!-- Setup your local gravity here -->
<arg name="gravity" default="9.8" />