avatar_furo_ros
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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.* | ||
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| {{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. | ||
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| + | Roscore is necessary for nodes to establish communication with each other. Rosmaster provides the naming and registration services to the nodes. | ||
| + | $ roscore | ||
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| {{akshay:jason_rosrun_joy.png}} | {{akshay:jason_rosrun_joy.png}} | ||
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| + | 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}} |
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| 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}} | ||
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| 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}} | ||
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| 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}} | ||
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| 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}} | ||
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| 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 | ||
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avatar_furo_ros.txt · Last modified: 2022/03/07 22:21 by glee
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