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Using package of roch_sensorpc

Before we begin our tutorial of roch_sensorpc package, we assume you had finished Point Cloud Tutorials, which we used for in this package. And also package with roch_sensorpc is available can be modified.

Demo

Usually roch_sensorpc used in roch_navigation with roch_safety_controller, and same as roch_safety_controller, roch_sensorpc also can run alone for a demo.

Steps for roch_sensorpc demo is same as roch_safety_controller.

• Make sure power on Roch and USB cable to Roch and PC.
• Make sure launch minimal.

  roslaunch roch_bringup minimal.launch

• Run launch file demo of roch_sensorpc.

  roslaunch roch_sensorpc standalone.launch

• Compared with the roch_safety_controller, additional more step is checkout pointcloud.

  rostopic echo /mobile_base/sensors/sensor_pointcloud

And We you nearly with Roch or blocking sensors in front of Roch, you will see topic has publish one data.

Topics & Parameters

For roch_sensorpc launch file, you can checkout there has some topics, and parameters.

Topics

There has two topics we need.

• /pointcloud
  • This topic is pint cloud output topic, default remapping into /mobile_base/sensors/sensor_pointcloud.
• /core_sensors

  • This topic subscribes roch_base and get sensors status and data for decide whether publish data or not, default remapping into /mobile_base/sensors/core.

Parameters

There has four parameters we need.

• pointcloud_radius
  • This default is radius of Roch, so we choose default value 0.25.
• ult_enable
  • This value decide enable use ult data or not.
• psd_enable
  • This value decide enable use psd data or not.
• cliff_enable
  • This value decide enable use cliff data or not.