ROS 安装¶
ROS Melodic |
ROS Kinetic |
ROS Indigo |
---|---|---|
环境准备¶
ROS Melodic (Ubuntu 18.04)¶
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update
sudo apt install ros-melodic-desktop-full
sudo rosdep init
rosdep update
ROS Kinetic (Ubuntu 16.04)¶
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
ROS Indigo (Ubuntu 14.04)¶
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws indigo
编译代码¶
cd <sdk>
make ros
运行节点¶
source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch # 这个节点没有图像显示
运行节点,同时打开 RViz 预览:
source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper display.launch
测试服务¶
运行节点,有提供获取设备信息服务,如下测试:
$ source wrappers/ros/devel/setup.bash
$ rosrun mynt_eye_ros_wrapper get_device_info.py
LENS_TYPE: 0000
SPEC_VERSION: 1.0
NOMINAL_BASELINE: 120
HARDWARE_VERSION: 2.0
IMU_TYPE: 0000
SERIAL_NUMBER: 0610243700090720
FIRMWARE_VERSION: 2.0
DEVICE_NAME: MYNT-EYE-S1000
常见问题 - ROS Indigo¶
make ros
时 libopencv
找不到¶
make[3]: *** No rule to make target `/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.2.4.8', needed by `/home/john/Workspace/MYNT-EYE-S-SDK/wrappers/ros/devel/lib/libmynteye_wrapper.so'. Stop.
Solution 1) 安装 OpenCV 2:
sudo apt-get update
sudo apt-get install libcv-dev
Solution 2) 安装 OpenCV 3 并重编 cv_bridge
:
sudo apt-get install ros-indigo-opencv3
git clone https://github.com/ros-perception/vision_opencv.git
mv vision_opencv/cv_bridge/ MYNT-EYE-S-SDK/wrappers/ros/src/
然后,重新 make ros
。