A Multi Robot Collaborative Dense Scene Reconstruction
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Start up reconstruction nodes:
You can start coxgraph clients and servers in seperate launch files, which are: coxgraph_server.launch, coxgraph_client0_cvg.launch and coxgraph_client1_cvg.launch, using these steps:
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open multi terminals to run roslaunchs, by tools like
tmux
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attach to the docker.
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in coxgraph catkin workspace:
source devel/setup.bash
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run each launch file in one of terminals:
roslaunch coxgraph coxgraph_server.launch roslaunch coxgraph coxgraph_client0_cvg.launch roslaunch coxgraph coxgraph_client1_cvg.launch
or you can run a wrapped launch:
roslaunch coxgraph run_experiment_cvg.launch
in which case, you will get a load of logs in the same terminal, which is hard to debug.
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Start corbslam nodes:
In another terminal,
cd <path/to/corbslam_ws> source devel/setup.bash roslaunch corbslam_client corbslam_frontend_cvg.launch
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Start rviz:
In another terminal,
cd <path/to/coxgraph_ws> source devel/setup.bash roscd coxgraph/config rviz -d coxgraph.rviz
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Debug:
By adding
debug<_suffix>:=true
arg when starting launch files, an external xterm window will pop up with gdb running. You can refer to launch files, to look for the debug arg suffix for each node.
- WIP
"coxgraph_server_node/control_trigger"
, see the srv file ControlTrigger.srv for definition."coxgraph_server_node/state_query"
, definition at StateQuery.srv