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commands.md

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  • Useful commands

    This document is a cheat sheet for useful commands

    Image detection

    • figure out the correct camera and its settings
      • get the correct device v4l2-ctl --list-devices
      • show device information (change device depending on output of above command) v4l2-ctl -d /dev/video2 --all
    • show (rectified) image of camera rosrun image_view image_view image:=/usb_cam/image_rect
    • show detected image rosrun image_view image_view image:=/tag_detections_image
    • interpret the apriltag message: rosmsg show apriltag_ros/AprilTagDetectionArray
      std_msgs/Header header
        uint32 seq
        time stamp
        string frame_id
      apriltag_ros/AprilTagDetection[] detections
        int32[] id
        float64[] size
        geometry_msgs/PoseWithCovarianceStamped pose
          std_msgs/Header header
            uint32 seq
            time stamp
            string frame_id
          geometry_msgs/PoseWithCovariance pose
            geometry_msgs/Pose pose
              geometry_msgs/Point position
                float64 x
                float64 y
                float64 z
              geometry_msgs/Quaternion orientation
                float64 x
                float64 y
                float64 z
                float64 w
            float64[36] covariance

    TF and RVIZ

    • open a new RVIZ to show transformations rosrun rviz rviz
      • set Fixed Frame to CETI_TABLE_ONE
      • select Add -> TF to show TF objects

    Robot Controllers

    • send a scene manually rostopic pub -1 /connector_node_ros_ccf/send_scene std_msgs/Empty