ROS与duckietbot指南-相机

ROS与duckietbot指南-相机

说明:

  • 介绍如何使用相机

步骤:

  • 需要ssh远程登录树莓派,打开两个终端

  • 终端1:

$ cd ~/duckietown
$ source environment.sh
$ roslaunch duckietown camera.launch veh:=robot name
  • 红灯亮起,不报红字错
  • 效果:
...
[INFO] [1502539383.948237]: [/robot name/camera_node] Initialized.
[INFO] [1502539383.951123]: [/robot name/camera_node] Start capturing.
[INFO] [1502539384.040615]: [/robot name/camera_node] Published the first image.
  • 终端2:
$ cd ~/duckietown
$ source environment.sh
  • 查看话题:
$ rostopic list
  • 效果:
/robot name/camera_node/camera_info
/robot name/camera_node/image/compressed
/robot name/camera_node/image/raw
/rosout
/rosout_agg
  • 查看发布频率:
$ rostopic hz /robot name/camera_node/image/compressed
  • 效果:
average rate: 30.016
    min: 0.026s max: 0.045s std dev: 0.00190s window: 841
  • 查看话题内容:
$ rostopic echo /robot name/camera_node/image/compressed

参考:

  • http://book.duckietown.org/master/duckiebook/read_camera_data.html#sec:read-camera-data

纠错,疑问,交流: 请进入讨论区点击加入Q群

获取最新文章: 扫一扫右上角的二维码加入“创客智造”公众号


标签: ros与duckietbot指南