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Plugin for rendering data from ROS network

This plugins allows Elektronk to render data transmitted via ROS protocol.

Supported message types

At this moment Elektronik supports only these types of ROS messages:

  • sensor_msgs/PointCloud2, as point cloud;
  • geometry_msgs/PoseStamped, as tracked objects;
  • nav_msgs/Odometry, as tracked objects;
  • visualization_msgs/MarkerArray, as point and line clouds, but only for reading form rosbag2 file.

Modes

This plugin has 4 modes:

  1. Direct reading from rosbag.
    • Select offline mode and "ROS bag" plugin, and choose path to "*.bag" file. For now plugin supports only uncompressed bags.
  2. Direct reading from rosbag2.
    • Select offline mode and "ROS bag" plugin, and choose path to "*.db3" file.
  3. Rendering data transmitted via ROS.
    • For that you have to use Rosbridge. In first terminal launch roscore, and in this second one - rosbridge. After rosbridge is launched you will see address and port of bridge, use them to connect Elektronik. Launch Elektronik and select online mode and "ROS listener" plugin. Elektronik will find all existed topics and subscribe on ones with supported type. On discovery of new topics Elektronic will also subscribe on them.
  4. ОRendering data transmitted via ROS2.
    • Select online mode and "ROS2 listener" plugin. Set ROS domain ID. If you don't know domain id of you ROS network, then most likely it used default value - 0. Due to ROS2 protocol limitation Elektronik can't discover existed topics and will only subscribe on topics launched after Elektronic started.

Plugin build

This plugin (unlike others and Elektronik itself) using native C++ library, which should be compiled before compilation of plugin itself. You can see example of build commands in this CI script. Don't forget to init environment before cmake: "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd" -arch=x64

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