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" />