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* builder: Build against Buster * builder: Use correct repository specifications * builder: Move ld.so.preload to have less errors * builder: Use coex repo to install Monkey * builder: Search for buster ROS packages * aruco_pose: Vendor in aruco library from OpenCV 3.4.6 * builder: Move to ROS Melodic * builder: Update kernel version * aruco_pose, clever: Remove opencv3 ROS dependency * builder: Update rosdep * travis: Disable eclint for vendored aruco library * tests: Don't try to locate opencv in ros * roscore: Use melodic distribution * Revert "aruco_pose: Vendor in aruco library from OpenCV 3.4.6" This reverts commit 9c14a8c002bb3396f9a7d9b2ba39969207f066ba. * aruco_pose: Vendor opencv_contrib/aruco again * builder: Add led packages * builder: Remove unused builder code * travis: Add native tests * builder: Set permissions for standalone-install * builder: Use -y for package installation * builder: Add repo for standalone build * builder: Use correct file types for standalone install * aruco_pose: Accept rgb8 map images * builder: Disable mjpg_streamer test * aruco_pose: Allow rgb8 map images (again) * builder: Re-add mjpgstreamer * builder: Install tornado==4.2.1 for rosbridge_suite * builder: Use more recent base image * builder: Use default kernel * builder: Move ld.so.preload back after tests * builder: Disable catkin tests These tests fail on a remote machine but seem to pass just fine on real hardware. Something must have changed between Kinetic and Melodic, and we must investigate more, but for now we just need a working image. * aruco_pose: Remove unused vendored code * selfcheck: Update systemd-analyze regex * builder: Add opencv repository * rosdep: Update package definitions for Melodic * rosdep: Use proper yaml formatting * travis: Remove unnecessary space * docs: Reference Melodic wherever possible
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Using rviz and rqt
The [rviz] tool(http://wiki.ros.org/rviz) allows real-time visualization of all components of the robotic system —the system of coordinates, moving parts, sensors, camera images — on the 3D stage.
rqt is a set of GUI for analyzing and controlling ROS systems. For example, rqt_image_view allows viewing topics with images, rqt_multiplot allows plot charts by the values in topics, etc.
To use rviz and rqt, a PC running Ubuntu Linux (or a virtual machine such as [Parallels Desktop Lite] (https://itunes.apple.com/ru/app/parallels-desktop-lite/id1085114709?mt=12) or [VirtualBox] (https://www.virtualbox.org)) is required.
Install package ros-melodic-desktop-full or ros-melodic-desktop using the installation documentation.
Start rviz
To start еру visualization of the state of Clever in real time, connect to it via Wi-Fi (CLEVER-xxx) and run rviz, specifying an appropriate ROS_MASTER_URI:
ROS_MASTER_URI=http://192.168.11.1:11311 rviz
If connection is not established, make sure the .bashrc of Clever contains line:
export ROS_HOSTNAME=`hostname`.local
Using rviz
Visualization of the copter position
It is recommended to set the map frame as a reference frame. To visualize the copter, add visualization markers from topic /vehicle_markers. To visualize the camera of the copter, add visualization markers from topic /main_camera/camera_markers.
The result of copter and camera visualization is shown below:
Visualization of the environment
You can view a picture with augmented reality from the topic of the main camera /main_camera/image_raw.
Axis or Grid configured to frame aruco_map will visualize the location on the map of ArUco marks.
jsk_rviz_plugins
It is also recommended to install additional useful plugins for rviz jsk_rviz_plugins. This kit allows visualizing topics like TwistStamped (velocity) CameraInfo, PolygonArray, and many more. To install, use command:
sudo apt-get install ros-melodic-jsk-visualization
Starting the rqt toolkit
To start rqt for monitoring Clever status, use command:
ROS_MASTER_URI=http://192.168.11.1:11311 rqt
An example of starting a specific plugin (rqt_image_view):
ROS_MASTER_URI=http://192.168.11.1:11311 rqt_image_view
Brief description of useful rqt plugins:
rqt_image_view– viewing images from topics likesensor_msgs/Image;rqt_multiplot– Building charts from the data from of arbitrary topics (installation:sudo apt-get install ros-melodic-rqt-multiplot);- Bag – working with Bag-files.