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CCF Immersive Sorting Demo
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CeTI
ROS
CeTI Cobotic Framework
CCF Immersive Sorting Demo
Commits
b23e24c3
Commit
b23e24c3
authored
2 years ago
by
Johannes Mey
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restructure and rename cheat-sheet
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launch/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`
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# show 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
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
rosrun rviz rviz
- Fixed Frame CETI_TABLE_ONE
- Add -> TF
# send a scene manually
rostopic pub -1 /connector_node_ros_ccf/send_scene std_msgs/Empty
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