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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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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 18.04 and ROS Melodic.
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.