Lines.action = visualization_msgs::Marker::ADD Īfter deployment, we start the slamware_ros_sdk_server_node, view_slamware_ros_sdk_server_node and display_virtual_lines nodes respectively.Īt this point, you need to configure the Add Marker information in RViz. Lines.type = visualization_msgs::Marker::LINE_LIST (4) Configure lines, such as type, size, and color, etc. (3) After receiving the virtual wall message sent by the slamware_ros_sdk_server_node node, save it to lines void virtualWallCallback(const slamware_ros_sdk::Line2DFlt32Array::ConstPtr & msg) (2) Globally defines a Marker type, lines are used to store and publish virtual walls. Ros::Subscriber sub = n.subscribe("/slamware_ros_sdk_server_node/virtual_walls", 30, virtualWallCallback) The corresponding message parameters will be like the following: Message Parameter After receiving the keyboard information, the corresponding command message can be sent to the topic. If you want to use the keyboard to control the robot’s moving direction, but it does not work.Īt this time, please refer to the SLAMWARE ROS SDK development document to find out that slamware_ros_sdk_server_node subscribes to the standard type topic of, that is, if you want to use the keyboard to control “robot”, we only need to compile a node to receive keyboard information. However, when users get our SLAMWARE-based robots or mapping radar products, the first thing that shows up in RViz is the map information.
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