查看ros中laser和camera读取的数据以及该数据的含义

最新推荐文章于 2024-06-19 16:47:47 发布

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最新推荐文章于 2024-06-19 16:47:47 发布 · 5.5k 阅读

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本文介绍了如何查看ROS中laser和camera的数据，包括/laser topic对应sensor_msgs/LaserScan消息的内容，以及/camera/rgb/image_raw topic对应sensor_msgs/Image消息的图像尺寸。通过分析，展示了laser的range_min、range_max等参数和camera的图像宽高640x480。

查看ros中laser和camera读取的数据以及该数据的含义

查看ros中laser和camera读取的数据以及该数据的含义
- - laser
  - camera
  - reference

laser

假设我们正在运行的机器人中安装了laser，首先找到这个laser的topic:

$rostopic list

结果显示如下

/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/velocity
/mobile_base/events/bumper
/mobile_base/events/cliff
/mobile

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