/ROS-tutorial

Quick start tutorial for ROS. It creates a node that subscribe to /camera_1 and publish to /image_proc topics. It runs a canny edge detecor algo from OpenCV. Both launch files and configuration file are implemented as example

Primary LanguageMakefile

ROS-tutorial

CREATE A ROS WORKSPACE

source /opt/ros/melodic/setup.bash
mkdir -p ~/tutorial_ws/src
cd ~/tutorial_ws/
catkin build

CREATE A PACKAGE

cd src
catkin_create_pkg beginner_tutorial std_msgs sensor_msgs roscpp

CMAKE

find_package(OpenCV REQUIRED)


include_directories(
  include


add_executable(${PROJECT_NAME}_node src/beginner_tutorial_node.cpp
                                    src/beginnerTutorial.cpp)

//uncomment
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})  


target_link_libraries(${PROJECT_NAME}_node
        ${catkin_LIBRARIES}
        ${OpenCV_LIBRARIES}
)
Custom Message

-> in find_package

add_message_files(
   FILES
   CustomMessage.msg
#   Message2.msg
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES beginner_tutorial
  CATKIN_DEPENDS roscpp sensor_msgs std_msgs message_generation
#  DEPENDS system_lib
)

find_package(catkin REQUIRED COMPONENTS
      roscpp
      .....
      message_generation
)

-> in package.xml

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

Launching

roscore
rosbag play bag.bag -l -r 0.2


rosrun image_transport republish compressed in:=camera_1  raw out:=camera_1


plotjuggler  // right now I can't see ROS publishers

Launch files

In launch folder

Configuration file

In config folder