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commands.md 1.48 KiB
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
- get the correct device
- 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
- set Fixed Frame to
Robot Controllers
- send a scene manually
rostopic pub -1 /connector_node_ros_ccf/send_scene std_msgs/Empty