Ironsides - ROS Integration
This package lets you use the Ironsides visual inertial computing module with ROS.
Getting started
- Install ROS (Kinetic)
- Create a ROS Workspace
- mkdir -p ~/catkin_ws/src
- cd ~/catkin_ws/
- catkin_make
- source ~/catkin_ws/devel/setup.bash
- Import and make our code
- place pirvs_ros folder in ~/catkin_ws/src
- run init python script to import PIRVS SDK
- cd ~/catkin_ws/src/pirvs_ros/init
- python pirvs_ros_init.py [PIRVS SDK folder] [calib_raw JSON] [calib_rectified JSON]
- cd ~/catkin_ws
- catkin_make
Quick Launch
- Try Stereo_camera_node
- switch Ironsides to Raw Mode
- roslaunch pirvs_ros raw_camera.launch
- Try Depth_node
- switch Ironsides to Depth Mode
- roslaunch pirvs_ros depth_camera.launch
- Try Slam_node
- switch Ironsides to Raw Mode
- roslaunch pirvs_ros display.launch
Test Stereo_camera_node
- Published topic:
- StereoImage/left: left image
- StereoImage/right: right image
- IMU/data_raw: IMU
- StereoImage/left/cameraInfo: left cam calibration
- StereoImage/right/cameraInfo: right cam calibration
- Run Stereo_camera_node:
- rosrun pirvs_ros stereo_camera_node [cam_calib_left.yaml] [cam_calib_right.yaml]
- Check image:
- rosrun image_view image_view image:=[topic name]
- e.g., rosrun image_view image_view image:=/pirvs_cam_raw/StereoImage/left
- Check IMU,cameraInfo:
- rostopic echo [topic name]
- e.g., rostopic echo IMU/data_raw
Test Depth_camera_node
- Published topic:
- StereoImage/rect_left: rectified left image
- StereoImage/rect_right: rectified right image
- StereoImage/detph: depth image
- Run Depth_camera_node:
- rosrun pirvs_ros depth_camera_node
- Check image:
- rosrun image_view image_view image:=[topic name]
- e.g., rosrun image_view image_view image:=/pirvs_cam_depth/StereoImage/rect_left
Test Slam_node
- Published topic:
- published topics:
- StereoImage/left: left image
- StereoImage/right: right image
- Pose: camera pose
- odom: odom information for kviz
- Run slam_node:
- rosrun pirvs_ros slam_node [calib.json] [vocab.json]
- Check image:
- rosrun image_view image_view image:=[topic name]
- e.g., rosrun image_view image_view image:=/pirvs_slam/StereoImage/left
- Check Pose:
- rostopic echo [topic name]
- e.g., rostopic echo Pose
- Check Pose using RVIZ:
- rosrun rviz rviz
- add odometry, listen topic "odom"
- set fixed frame to my frame
For more information visit Trifo ROS Wiki