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avatar_furo_ros [2022/03/07 22:06]
glee
avatar_furo_ros [2022/03/07 22:21] (current)
glee
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 ====Running ROS scripts==== ====Running ROS scripts====
 +*This page will describe how to run ROS programs of Furo that are currently being used.*
 +\\
 +\\
 {{akshay:​jason_roscore1.png}} {{akshay:​jason_roscore1.png}}
-    $ roscore 
-Roscore is necessary for nodes to establish communication with each other. Rosmaster provides the naming and registration services to the nodes. 
 \\ \\
 +\\
 +Roscore is necessary for nodes to establish communication with each other. Rosmaster provides the naming and registration services to the nodes.
 +    $ roscore
 \\ \\
 {{akshay:​jason_rosrun_joy.png}} {{akshay:​jason_rosrun_joy.png}}
 +\\
 +\\
 +The joy_node script is to convert joystick value to digital value.
     $ rosrun joy joy_node     $ rosrun joy joy_node
-The joy_node script is to convert joystick value to digital value +\\ 
-    $ rosrun learning_joy furo+{{akshay:​jason_learningjoy.png}} 
 +\\ 
 +\\
 The furo script is a topic is both a publisher as well as subscriber at the same time. Obtaining value from the joystick, converting it to a float data type and passes it to the motor controller. The furo script is a topic is both a publisher as well as subscriber at the same time. Obtaining value from the joystick, converting it to a float data type and passes it to the motor controller.
-    $ roslaunch roboclaw_node roboclaw.launch+    $ rosrun learning_joy furo 
 +\\ 
 +{{akshay:​jason_roboclaw.png}} 
 +\\ 
 +\\
 The roboclaw.launch script is to control the motor controller that is connected to the wheels of FURO. The roboclaw.launch script is to control the motor controller that is connected to the wheels of FURO.
-    $ rosrun head_motor finalheadmotor.py+    $ roslaunch roboclaw_node roboclaw.launch 
 +\\ 
 +{{akshay:​jason_headmotor.png}} 
 +\\ 
 +\\
 The finalheadmotor.py script is a subscriber that receives value from joystick node and enables Furo's head movement. The finalheadmotor.py script is a subscriber that receives value from joystick node and enables Furo's head movement.
-    $ rosrun ​facedetect findface_publisher.py+    $ rosrun ​head_motor finalheadmotor.py 
 +\\ 
 +{{akshay:​facedect_findace_publisher.png}} 
 +\\ 
 +\\
 The findface_publisher.py is a publisher that detects people'​s face and transfer the x,y coordinates of people'​s face to the face_tracks.py script. The findface_publisher.py is a publisher that detects people'​s face and transfer the x,y coordinates of people'​s face to the face_tracks.py script.
-    $ rosrun ​head_motor face_tracks.py+    $ rosrun ​facedetect findface_publisher.py 
 +\\ 
 +{{akshay:​head_motor_face_tracks.png}} 
 +\\ 
 +\\
 The face_tracks.py script is a subscriber that receives the x,y coordinate of a person'​s face and enable Furo to move toward the person. The face_tracks.py script is a subscriber that receives the x,y coordinate of a person'​s face and enable Furo to move toward the person.
 +    $ rosrun head_motor face_tracks.py
 +
avatar_furo_ros.txt · Last modified: 2022/03/07 22:21 by glee