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README.md

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Dependencies

  1. IXWebSocket Please follow the instructions on the source repo.
  2. json Included in src/include/ar_perception_client_pkg/nolhmann_json.hpp.

ROS command

rosrun ar_perception_client_pkg ar_perception_client_pkg __name:=different_name _stream_name:="stream-name"

Possible stream names

upper-velodyne-vlp16/depth/points
forward-tis-dfm27up/color/image-raw
forward-chest-realsense-d435/color/image-rect
forward-chest-realsense-d435/left-infrared/image-rect
forward-chest-realsense-d435/right-infrared/image-rect
forward-chest-realsense-d435/depth/image-rect
forward-chest-realsense-d435/depth/points
forward-pelvis-realsense-d430/left-infrared/image-rect
forward-pelvis-realsense-d430/right-infrared/image-rect
forward-pelvis-realsense-d430/depth/image-rect
forward-pelvis-realsense-d430/depth/points
downward-pelvis-realsense-d430/left-infrared/image-rect
downward-pelvis-realsense-d430/right-infrared/image-rect
downward-pelvis-realsense-d430/depth/image-rect
downward-pelvis-realsense-d430/depth/points
backward-pelvis-realsense-d430/left-infrared/image-rect
backward-pelvis-realsense-d430/right-infrared/image-rect
backward-pelvis-realsense-d430/depth/image-rect
backward-pelvis-realsense-d430/depth/points

TODO

  1. Currently only implementing `flow-rate=none`. Are `framerate` and `request` needed?
  2. Documentation.

Recording a bag

rosbag record /digit/upper_velodyne_vlp16/depth/points /digit/forward_chest_realsense_d435/depth/points /digit/forward_pelvis_realsense_d430/depth/points /digit/downward_pelvis_realsense_d430/depth/points /digit/backward_pelvis_realsense_d430/depth/points /tf