ROS 如何使用¶
按照 ROS 安装,编译再运行节点。
rostopic list
可以列出发布的节点:
/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>
可以检查是否有数据:
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>
可以打印发布数据等。了解更多,请阅读
rostopic 。
ROS 封装的文件结构,如下所示:
<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
其中 mynteye.launch
里,可以配置发布的 topics 与 frame_ids
、决定启用哪些数据、以及设定控制选项。修改分辨率和帧率需要根据 图像分辨率支持列表。其中,gravity
请配置成当地重力加速度。
<!-- 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" />