ROS Assignment

ros_assignment.markdown

ROS Commands

roscore
# Export this to set the variables to capture form webcam
export GSCAM_CONFIG="v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace"
# run gscam to get input from webcam and publish to /camera/image_raw topic
rosrun gscam gscam
# Open a new node to display the webcam output
rosrun image_view image_view image:=/camera/image_raw

Packages to be used

• image_transport
• cv_bridge
• Running ROS across multiple machines

Important Threads

• OpenCV Linking Problem with ROS
• How to run ROS across multiple machines with different networks?
• ROS Environment Variables

ssh notes

• Setup SSH

roscore

## On my computer
sudo apt-get install openssh-server
add <ip> <hostname> to /etc/hosts
ssh <username>@<ip-address>
export ROS_IP=`hostname -I`
export ROS_MASTER_URI=http://<usernam>eubu:11311
ifconfig