How to use ROS¶
Compile and run the node according to ROS Installation .
Tip
Before doing below you need open a terminal to launch ros node first
rostopic list
lists all released nodes:
$ rostopic list
/mynteye/depth/image_raw
/mynteye/disparity/image_norm
/mynteye/disparity/image_raw
/mynteye/imu/data_raw
/mynteye/left/camera_info
/mynteye/left/image_raw
/mynteye/left/image_rect
/mynteye/points/data_raw
/mynteye/right/camera_info
/mynteye/right/image_raw
/mynteye/right/image_rect
/mynteye/temp/data_raw
...
rostopic hz <topic>
checks the data:
$ rostopic hz /mynteye/imu/data_raw
subscribed to [/mynteye/imu/data_raw]
average rate: 505.953
min: 0.000s max: 0.018s std dev: 0.00324s window: 478
average rate: 500.901
min: 0.000s max: 0.018s std dev: 0.00327s window: 975
average rate: 500.375
min: 0.000s max: 0.019s std dev: 0.00329s window: 1468
...
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/
│ └─mynt_eye_ros_wrapper/
│ ├─launch/
│ │ ├─display.launch
│ │ └─mynteye.launch
│ ├─msg/
│ ├─rviz/
│ ├─src/
│ │ ├─wrapper_node.cc
│ │ └─wrapper_nodelet.cc
│ ├─CMakeLists.txt
│ ├─nodelet_plugins.xml
│ └─package.xml
└─README.md
In mynteye.launch
, you can configure the topics and frame_ids, decide which data to enable, and set the control options. Please set gravity
to the local gravity acceleration.
# s2100/s210a modify frame/resolution
<arg name="request_index" default="$(arg index_s2_2)" />
# s1030 modify frame/imu hz
<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
<arg name="standard/frame_rate" default="-1" />
<!-- <arg name="standard/frame_rate" default="25" /> -->
<!-- standard/imu_frequency range: {100,200,250,333,500} -->
<arg name="standard/imu_frequency" default="-1" />
<!-- <arg name="standard/imu_frequency" default="200" /> -->
...
# s2100 modify brightness
<!-- standard2/brightness range: [0,240] -->
<arg name="standard2/brightness" default="-1" />
<!-- <arg name="standard2/brightness" default="120" /> -->
...
# s210a modify brightness
<!-- standard210a/brightness range: [0,240] -->
<arg name="standard210a/brightness" default="-1" />
<!-- <arg name="standard210a/brightness" default="120" /> -->
...
<arg name="gravity" default="9.8" />
For printing debug info, replace Info
in wrapper_node.cc
to Debug
:
ros::console::set_logger_level(
ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info);