SimpleTracker-ros2-ws

The commands below should be used to get this ROS package up and running in VSCode and using the ROS dev container

Setup

Run the setup script to setup dev container ./setup.sh

Update web cam details

NOTE: Update the params.yaml file in the simple_tracker_launch/config directory to change camera details

Build

Run the build script to build the project ./build.sh

Launch

Run the launch script to launch the project. This will source the setup.bash file and launch the application ./launch.sh

Run the simulation launch script to launch the project in simulation mode. This will source the setup.bash file and launch the application ./launch_simulation.sh

Note: If you run into the following error:

[frame_provider-4] [INFO] [1675115712.958444773] [frame_provider]: frame_provider node is up and running.Simple visualiser-1 at.apa.xcb: could not connect to display 1 [simple visualiser-101 at.apa.plugin: Could not load the Ot platform plugin "xcb" in "" even though it was found

Then run the folllowing commands:

1. export DISPLAY=:0
2. xhost +

If you are attempting to launch with a Windows host then above commands will not suffice. Since Windows does not run X a workaround is to:

• Install VcXsrv: https://sourceforge.net/projects/vcxsrv/
• Start VcXsrv and configure it to allow connection from any host
• Set the DISPLAY environment variable in the Docker container to the host IP address and display number of the VcXsrv server e.g. export DISPLAY=192.xxx.x.xxx:0
• Run VcXsrv xlaunch.exe and then finally run launch.sh on the container

Replay a rosbag recording

• ros2 bag play 2023_01_25-16_48_14/ where 2023_01_25-16_48_14/ is a folder that contains a rosbag recording
• ./launch_rosbag_replay.sh

Updating configuration from the Visualiser window

• When the visualiser is up and running, a number of key presses are currently handled as to allow you to change the configuration dynamically:
  • + This will increase the size of the image
  • - This will decrease the size of the image
  • m This will switch masks
  • c This will switch controllers, however you need to have configured your camera details as per above for this to work

Updating configuration from command line example:

• This will update the "frame_provider_resize_dimension_h" configuration entry to a value of 400

ros2 service call '/sky360/config/entry/update' 'simple_tracker_interfaces/srv/ConfigEntryUpdate' '{entries:[{key: frame_provider_resize_dimension_h, type: int, value: 400}]}'

ros2 service call '/sky360/config/entry/update' 'simple_tracker_interfaces/srv/ConfigEntryUpdate' '{entries:[{key: controller_type, type: str, value: video}]}'

Tracker status via command line

• To keep an eye on the state of the tracker, using the following echo command

ros2 topic echo /sky360/tracker/tracking_state

• To keep an eye on the camera frame excl. array data use the following echo command

ros2 topic echo /sky360/camera/original --no-arr

View more windows

• Uncomment some of the remappings in the "simple_tracker_launch/launch/simple_tracker_launch.py" visualiser node to enable additional windows like optical flow etc

Testing visualization of codebase

Link to visualization