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Ironsides - ROS Integration

This package lets you use the Ironsides visual inertial computing module with ROS.

Getting started

  • Install ROS (Kinetic)
  • Create a ROS Workspace
    • mkdir -p ~/catkin_ws/src
    • cd ~/catkin_ws/
    • catkin_make
    • source ~/catkin_ws/devel/setup.bash
  • Import and make our code
    • place pirvs_ros folder in ~/catkin_ws/src
    • run init python script to import PIRVS SDK
      • cd ~/catkin_ws/src/pirvs_ros/init
      • python pirvs_ros_init.py [PIRVS SDK folder] [calib_raw JSON] [calib_rectified JSON]
    • cd ~/catkin_ws
    • catkin_make

Quick Launch

  • Try Stereo_camera_node
    • switch Ironsides to Raw Mode
    • roslaunch pirvs_ros raw_camera.launch
  • Try Depth_node
    • switch Ironsides to Depth Mode
    • roslaunch pirvs_ros depth_camera.launch
  • Try Slam_node
    • switch Ironsides to Raw Mode
    • roslaunch pirvs_ros display.launch

Test Stereo_camera_node

  • Published topic:
    • StereoImage/left: left image
    • StereoImage/right: right image
    • IMU/data_raw: IMU
    • StereoImage/left/cameraInfo: left cam calibration
    • StereoImage/right/cameraInfo: right cam calibration
  • Run Stereo_camera_node:
    • rosrun pirvs_ros stereo_camera_node [cam_calib_left.yaml] [cam_calib_right.yaml]
  • Check image:
    • rosrun image_view image_view image:=[topic name]
    • e.g., rosrun image_view image_view image:=/pirvs_cam_raw/StereoImage/left
  • Check IMU,cameraInfo:
    • rostopic echo [topic name]
    • e.g., rostopic echo IMU/data_raw

Test Depth_camera_node

  • Published topic:
    • StereoImage/rect_left: rectified left image
    • StereoImage/rect_right: rectified right image
    • StereoImage/detph: depth image
  • Run Depth_camera_node:
    • rosrun pirvs_ros depth_camera_node
  • Check image:
    • rosrun image_view image_view image:=[topic name]
    • e.g., rosrun image_view image_view image:=/pirvs_cam_depth/StereoImage/rect_left

Test Slam_node

  • Published topic:
    • published topics:
    • StereoImage/left: left image
    • StereoImage/right: right image
    • Pose: camera pose
    • odom: odom information for kviz
  • Run slam_node:
    • rosrun pirvs_ros slam_node [calib.json] [vocab.json]
  • Check image:
    • rosrun image_view image_view image:=[topic name]
    • e.g., rosrun image_view image_view image:=/pirvs_slam/StereoImage/left
  • Check Pose:
    • rostopic echo [topic name]
    • e.g., rostopic echo Pose
  • Check Pose using RVIZ:
    • rosrun rviz rviz
    • add odometry, listen topic "odom"
    • set fixed frame to my frame

For more information visit PerceptIn ROS Wiki