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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[Question]: How to move the robot with LoCoBot Control Package or Publish Aligned Depth with Joystick Package #51

Closed dwindy closed 8 months ago

dwindy commented 10 months ago

Question

Hi there, I'm hoping to use the robot to gather some data, including RGB, Depth and LIDAR. I was using Joystick Control Package but unfortunately found out that package didn't publish the topic of "locobot/camera.aligned_depth_to_color/image_raw". The aligned depth would be found by using LoCoBot Control Package with argument align_depth:=true. (Which the Joystick Control Package didn't has this argument).

So I'm wondering, How to make the robot move, with the LoCoBot Control Package, so I would get Align-depth. Alternately, running Joystick Control Package and with publishing align-depth is also helpful.

Thanks in advance

Robot Model

locobot_base

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

No response

lukeschmitt-tr commented 10 months ago

To do this, modify the section in the xsarm_joy.launch file that includes the xsarm_control.launch file to set the arg align_depth to true.

    <arg name="align_depth"                        value="true"/>

https://github.com/Interbotix/interbotix_ros_rovers/blob/b1b5a180d31316636c58521419e0405eb5c0e249/interbotix_ros_xslocobots/examples/interbotix_xslocobot_joy/launch/xslocobot_joy.launch#L21-L33