ros_test
This repo include some test about ros c++ api using webots simulator, including follows:
- diff controller
- odom publisher
- joint state publisher
- robot state publisher, kdl tree
- joint trajectory publish and subscribe
- twist message publish and subscribe
- ros image to opencv
- fast keypoint detection
Environment
- Ubuntu 18.04
- Ros melodic
- Cmake 3.10.2
- g++ 7.4.0
- OpenCV 4.1.0
- Webots R2019a
Detial
The folder 'ros_controller/src' include:
- Motion controller
- diff controller
- odom publisher
- twist message subscriber
- Joint controller
- joint state publisher
- robot state publisher
- joint trajectory subscriber
- Motion test
- twist message publisher
- joint trajectory publisher
- Cv test
- ros image to opencv
- FAST keypoint detection
- URDF model
The folder 'cam_calibration' contains some tools for camera calibration, just copy from 'opencv/smaples/cpp'.
The folder 'webots' contains the robot simulation environment, including some worlds and webots controllers for test.
NOTICE: you should modify the path of URDF model in 'agent_joint_controller.cpp' so that it can find the model file.
Usage
-
git clone this repo.
git clone git@github.com:qqadssp/ros_test.git
cd ros_test/ros_controller
catkin_make -
open a terminal.
$roscore
-
open webots, load one of the world in webots/worlds and run it.
-
open four terminals.
$rosrun vslam_agent_motion_controller agent_motion_controller
$rosrun vslam_agent_joint_controller agent_joint_controller
$rosrun motion_test motion_test
$rosrun cv_test cv_test