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Getting started
Description: Basic use of evart_bridgeTutorial Level: BEGINNER
Contents
This tutorial makes the assumption that Cortex, evart-stream and evart_bridge are launched and that at least one object is tracked. See the setup tutorial for more information.
Listing tracked objects
To get the tracked object list, run the following command:
rosservice call /evart/list_segments
Enabling the tracked object position publication
Unless, the parameter ~track_all_segments is set to true, the tracked object positions are not published automatically.
To publish into ROS the position of a particular object, run:
# table is the rosservice call /evart/track_segments <object name> <segment name>
Only segments position can be published.
You have to make sure that the object you want to track contains a segment. I.e. it cannot be a prop object but should have the mars extension instead.
It is not recommended to use the default segment P0 that Cortex defines automatically if no segment is added.
Enabling the tracked object position publication
Consider that you have added previously the segment origin of the object table. You can display its position by running:
rostopic echo /evart/table/origin
If no data is published (i.e. rostopic produces no output), it probably means that the object cannot be tracked properly. Double check in Cortex that the object frame is correct.
