Commit d4786797 authored by Alex Kushleyev's avatar Alex Kushleyev
Browse files

merge readme updates from master

parent 0172d663
......@@ -39,47 +39,91 @@ This will generate a binary in "devel/lib/voxl_hal3_tof_cam_ros/voxl_hal3_tof_ca
./install_on_voxl.sh
```
## Visualize
1. (PC) adb shell
1. (VOXL) RUN ifconfig
* This will give you the IP address of the VOXL
* For WiFi setup, instructions found [here](https://docs.modalai.com/wifi-setup/)
1. (VOXL) export ROS_IP=IP-ADDR-OF-VOXL
1. (VOXL) source /opt/ros/indigo/setup.bash
1. (VOXL) roscore &
* This will print a line that should read something like this: "ROS_MASTER_URI=http://AAA.BBB.CCC.DDD:XYZUV/"
* The http address will be different
1. (PC) ifconfig
* This will give you the IP address of the PC
1. (PC) export ROS_IP=IP-ADDR-OF-PC
1. (PC) export ROS_MASTER_URI=http://AAA.BBB.CCC.DDD:XYZUV/
* The ROS_MASTER_URI is what you saw on the VOXL when you ran "roscore &" in the above step
1. (PC) source /opt/ros/xxxxx/setup.bash
* xxxxxx is the ROS version you have installed
1. (PC) The 2 transforms (for both laser scan and point cloud) are in the tof.launch file
## Visualization
### On VOXL
```
# view network information
ifconfig
```
- This will give you the IP address of the VOXL
- For WiFi setup, instructions found [here](https://docs.modalai.com/wifi-setup/)
```
export ROS_IP=IP-ADDR-OF-VOXL
source /opt/ros/indigo/setup.bash
roscore &
```
- This will print a line that should read something like this: `ROS_MASTER_URI=http://AAA.BBB.CCC.DDD:XYZUV/`
- The http address will be different
### On Desktop
```
# view network information
ifconfig
```
- This will give you the IP address of the PC
```
export ROS_IP=IP-ADDR-OF-PC
export ROS_MASTER_URI=http://AAA.BBB.CCC.DDD:XYZUV/
```
- The ROS_MASTER_URI is what you saw on the VOXL when you ran `roscore &` in the above step
```
source /opt/ros/xxxxx/setup.bash
```
- xxxxxx is the ROS version you have installed
The 2 transforms (for both laser scan and point cloud) are in the tof.launch file
* In RViz choose Fixed Frame toption as /base_link instead of map
* Open your .rviz file (by default in /home/xxx/.rviz/default.rviz)
* vi /home/xxx/.rviz/default.rviz
* In "Global Options" change the "Fixed Frame:" option from "map" to "base_link"
1. (PC) rviz
* On the leftmost column click on the "Add" button
* In the pop-up options click on "Image"
* Change Display Name to "IR-Image"
* In the left column under "IR-Image" tab select type in Image Topic as /voxl_ir_image_raw
* Click on the "Add" button again
* In the pop-up options click on "Image"
* Change Display Name to "Depth-Image"
* In the left column under "Depth-Image" tab select type in Image Topic as /voxl_depth_image_raw
* "Add" PointCloud2 with Topic as "/voxl_point_cloud"
* "Add" LaserScan with Topic as "/voxl_laser_scan"
1. (VOXL) Modify the "camera_id" field in tof.launch to select the correct camera id for your setup
* By default it is 1
1. (VOXL) roslaunch /opt/ros/indigo/share/voxl_hal3_tof_cam_ros/launch/tof.launch
* By default all outputs are enabled i.e. IR-Image, Depth-Image, Point-Cloud
```
vi /home/xxx/.rviz/default.rviz
```
- Change the "Fixed Frame:" option from "map" to "base_link"
- Global Options:
- Fixed Frame: /base_link
```
rviz
```
Start the `rviz` program on your desktop
- On the leftmost column click on the "Add" button
- In the pop-up options click on "Image"
- Change Display Name to "IR-Image"
- In the left column under "IR-Image" tab select type in Image Topic as /voxl_ir_image_raw
- Click on the "Add" button again
- In the pop-up options click on "Image"
- Change Display Name to "Depth-Image"
- In the left column under "Depth-Image" tab select type in Image Topic as /voxl_depth_image_raw
- "Add" PointCloud2 with Topic as "/voxl_point_cloud"
- "Add" LaserScan with Topic as "/voxl_laser_scan"
### On VOXL
- Identify the correct camera ID to use for TOF sensor
- For camera-id please check [here](https://docs.modalai.com/camera-connections/#configurations)
- export TOF_CAM_ID in your environment before running the TOF application, for example
- export TOF_CAM_ID=1
- Launch file `tof.launch` will read this environment variable and use to access appropriate camera id
```
roslaunch /opt/ros/indigo/share/voxl_hal3_tof_cam_ros/launch/tof.launch
```
- By default all outputs are enabled i.e. IR-Image, Depth-Image, Point-Cloud
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