ROS 如何使用

按照 ROS Wrapper 安装 ，编译再运行节点。

小技巧

使用下面命令前需要先在另一个命令行窗口运行ROS节点

rostopic list 可以列出发布的节点：

$ rostopic list
/imsee/camera_info
/imsee/depth
/imsee/depth/compressed
/imsee/depth/compressed/parameter_descriptions
/imsee/depth/compressed/parameter_updates
/imsee/depth/compressedDepth
/imsee/depth/compressedDepth/parameter_descriptions
/imsee/depth/compressedDepth/parameter_updates
/imsee/depth/theora
/imsee/depth/theora/parameter_descriptions
/imsee/depth/theora/parameter_updates
/imsee/disparity
/imsee/disparity/compressed
/imsee/disparity/compressed/parameter_descriptions
/imsee/disparity/compressed/parameter_updates
/imsee/disparity/compressedDepth
/imsee/disparity/compressedDepth/parameter_descriptions
/imsee/disparity/compressedDepth/parameter_updates
/imsee/disparity/theora
/imsee/disparity/theora/parameter_descriptions
/imsee/disparity/theora/parameter_updates
/imsee/image/camera_info
/imsee/image/detector
/imsee/image/detector/compressed
/imsee/image/detector/compressed/parameter_descriptions
/imsee/image/detector/compressed/parameter_updates
/imsee/image/detector/compressedDepth
/imsee/image/detector/compressedDepth/parameter_descriptions
/imsee/image/detector/compressedDepth/parameter_updates
/imsee/image/detector/theora
/imsee/image/detector/theora/parameter_descriptions
/imsee/image/detector/theora/parameter_updates
/imsee/image/left
/imsee/image/left/compressed
/imsee/image/left/compressed/parameter_descriptions
/imsee/image/left/compressed/parameter_updates
/imsee/image/left/compressedDepth
/imsee/image/left/compressedDepth/parameter_descriptions
/imsee/image/left/compressedDepth/parameter_updates
/imsee/image/left/theora
/imsee/image/left/theora/parameter_descriptions
/imsee/image/left/theora/parameter_updates
/imsee/image/rectified/camera_info
/imsee/image/rectified/left
/imsee/image/rectified/left/compressed
/imsee/image/rectified/left/compressed/parameter_descriptions
/imsee/image/rectified/left/compressed/parameter_updates
/imsee/image/rectified/left/compressedDepth
/imsee/image/rectified/left/compressedDepth/parameter_descriptions
/imsee/image/rectified/left/compressedDepth/parameter_updates
/imsee/image/rectified/left/theora
/imsee/image/rectified/left/theora/parameter_descriptions
/imsee/image/rectified/left/theora/parameter_updates
/imsee/image/rectified/right
/imsee/image/rectified/right/compressed
/imsee/image/rectified/right/compressed/parameter_descriptions
/imsee/image/rectified/right/compressed/parameter_updates
/imsee/image/rectified/right/compressedDepth
/imsee/image/rectified/right/compressedDepth/parameter_descriptions
/imsee/image/rectified/right/compressedDepth/parameter_updates
/imsee/image/rectified/right/theora
/imsee/image/rectified/right/theora/parameter_descriptions
/imsee/image/rectified/right/theora/parameter_updates
/imsee/image/right
/imsee/image/right/compressed
/imsee/image/right/compressed/parameter_descriptions
/imsee/image/right/compressed/parameter_updates
/imsee/image/right/compressedDepth
/imsee/image/right/compressedDepth/parameter_descriptions
/imsee/image/right/compressedDepth/parameter_updates
/imsee/image/right/theora
/imsee/image/right/theora/parameter_descriptions
/imsee/image/right/theora/parameter_updates
/imsee/imu
/imsee/points
/rosout
/rosout_agg
/tf_static
...

小技巧

除左右目原始图像及imu以外的节点，只有主动订阅才会发布，这是为了节省运算量。

rostopic hz <topic> 可以检查是否有数据：

$  rostopic hz /imsee/imu
subscribed to [/imsee/imu]
average rate: 991.195
  min: 0.000s max: 0.003s std dev: 0.00014s window: 970
average rate: 989.429
  min: 0.000s max: 0.005s std dev: 0.00016s window: 1959
average rate: 986.974
  min: 0.000s max: 0.008s std dev: 0.00024s window: 2944
average rate: 987.813
  min: 0.000s max: 0.008s std dev: 0.00023s window: 3938
...

rostopic echo <topic> 可以打印发布数据等。了解更多，请阅读 rostopic 。

ROS 封装的文件结构，如下所示：

<IMSEE>/ros/
├─src/
│  └─imsee_ros_wrapper
│  ├── CMakeLists.txt
│  ├── config
│  │   └── settings.yaml
│  ├── launch
│  │   ├── display.launch
│  │   └── start.launch
│  ├── nodelet_plugins.xml
│  ├── package.xml
│  ├── rviz
│  │   └── imsee.rviz
│  └── src
│      ├── wrapper_node.cc
│      └── wrapper_nodelet.cc

其中 config/settings 里，可以配置图像的帧率分辨率与imu的频率。