8f332d8d53
* Build and publish docs with the RPi image * travis: Don't use docker for gitbook building * docs: markdownlint fixes * travis: Don't lint lessons * travis: Don't lint lessons (for real this time) * docs: Style fixes * travis: Fix typo to actually deploy build artifacts * travis: Disable automatic docs deployment, revisit this later
2.0 KiB
Viewing images from cameras
To view images from cameras (or other ROS topics), you can use rviz, rqt, or watch them in a browser using web_video_server.
See read more about using rqt.
Viewing in a browser
Configuration
Make sure that in Clever launch-file (~/catkin_ws/src/clever/clever/launch/clever.launch), starting web_video_server is enabled:
<arg name="web_video_server" default="true"/>
After the launch-file is edited, restart package clever:
sudo systemctl restart clever
Viewing
To view a video-stream, you have to connect to Wi-Fi of Clever (CLEVER-xxxx), navigate to page http://192.168.11.1:8080/, and choose the topic.
If the image is transmitted too slow, you can speed it up by changing GET parameter quality (from 1 to 100), which is responsible for video-stream compression, for example:
http://192.168.11.1:8080/stream_viewer?topic=/main_camera/image_raw&quality=1
At the URL above, a stream from the main camera will be available in the minimum possible quality.
Parameters width, height, etc. re also available. Read more about web_video_server: http://wiki.ros.org/web_video_server.
Browse with rqt_image_view
To browse images with the rqt tools the user needs a computer with Ubuntu 16.04 и ROS Kinetic.
Connect to the Clever Wi-Fi network an run rqt_image_view with its IP-address:
ROS_MASTER_URI=http://192.168.11.1:11311 rqt_image_view
Choose a topic for browsing, for example /main_camera/image_raw:
To reduce network load and reduce latency, use a compressed version of the topic – /main_camera/image_raw/compressed.
To change the compression settings use the rqt-plugin Dynamic Reconfigure:
Refer to more about rviz and rqt.