/photoneo_test

checking the measurement range of photoneo sensors

Primary LanguagePython

photoneo_test

Checking the measurement range of photoneo sensors

  • Launch robot in Rviz
$ roslaunch vs087_moveit_config demo.launch
  • spawn tf with interactive marker
    $ rosrun tf_interactive_marker.py world [sensor_id] [xyz and rpy]
    sensor_id: name of tf interactive marker (should be different for each sensor)
$ rosrun photoneo_test tf_interactive_marker.py world l1 1.4784 0.0693 0.4358 0.046 0.4315 -3.1227
  • spawn marker which represents the measurement range of photoneo sensor
    $ rosrun photoneo_test.py world [sensor_type] [sensor_id]
    sensor_type: xs,s,m,l,xl
    sensor_id: same name as tf ineractive merker you spawn above
$ rosrun photoneo_test photoneo_test.py l l1
  • spawn another photoneo sensor with different sensor_id
$ rosrun photoneo_test tf_interactive_marker.py world l2 1.4784 0.0693 0.4358 0.046 0.4315 -3.1227

$ rosrun photoneo_test photoneo_test.py l l2