movesense(rosbuild)

Library Dependency

1. Before you build your movesense-ros package, please make sure you have installed the [movesense] libraries. For further information, please refer to ./MoveSenseSDK-linux/README.md

You can also get the source codes from the website:https://github.com/HumanPlus-Company/MoveSenseSDK-linux.git

ROS

2. Installation of [ROS] Indigo in Ubuntu Please visit the website: http://wiki.ros.org/indigo/Installation/Ubuntu

MoveSenseSensor package

3. Compiling the [movesense-ros] source codes Before you build source codes, please make sure you have operated correctly according to step 1 & 2.

The package can not be compiled without ROS This package will be built with rosbuild

	cd movesense-ros
	chmod +x build.sh
	./build.sh

Executing these commands above will generate executable programs which include movesense-ros_LR_node, movesense-ros_LD_node, movesense-ros_LRD_nodein movesense-ros folder.

4. Run the movesense-ros You should execute following command to add your package to ROS PATH:

    $ source ./build/devel/setup.bash
   

You should execute following command in a new terminal before running the movesense-ros package:

	$ roscore

Run movesense-ros_LR_node:

	$ rosrun movesense-ros movesense-ros_LR_node 

Now you can open a new terminal to see following topics:

	$ rostopic list
	$ rostopic echo /movesense/left/image_raw

Open a new terminal to display images:

	$ rosrun image_view image_view image:=/movesense_sensor/left/image_raw

Launch rviz using the following command. Then click on add (bottom left), select the By Topic tab, select movesense_sensor->left->image_raw and click OK.

	$ rosrun rviz rviz

You can see the point cloud by launching movesense-ros_LD_node, then in Rviz, click on add (bottom left), select the By Topic tab, select movesense_sensor->depth->point_cloud->PointCloud2 and click OK. Don't forget change Global Options->Fixed Frame to camera_link.

Because of movesense point cloud data is measured in millimeters(mm), you should change PointCloud2->Size(m) to 10 or more.

We provide a special package to see the depth data, please follow ./tools/ms_image_view/README.md and compile the package.

When running movesense-ros_LR_node, the MoveSenseSensor will work in default mode:

	The camera default mode is : 'CAM_STEREO_752X480_LR_30FPS'.
	default param path  is: ./config
	default topic is :
	/movesense_sensor/left/image_raw
	/movesense_sensor/left/camera_info
	/movesense_sensor/right/image_raw
	/movesense_sensor/right/camera_info);

Change the default param of movesense-ros:

	$ rosrun movesense-ros movesense-ros_LR_node mode:=CAM_STEREO_752X480_LR_30FPS param:=/config

You can use the following keywords to change the sensor work mode:

	CAM_STEREO_752X480_LR_30FPS			'LR_NODE'
	CAM_STEREO_752X480_LD_30FPS			'LD_NODE'
	CAM_STEREO_752X480_LRD_30FPS		'LRD_NODE'
	CAM_STEREO_376X240_LR_30FPS			'LR_NODE'
	CAM_STEREO_376X240_LD_30FPS			'LD_NODE'
	CAM_STEREO_376X240_LRD_30FPS		'LRD_NODE'

You can stop you movesense-ros node:

	CTRL+C

ORB_SLAME packge

Get the source codes from the website:https://github.com/raulmur/ORB_SLAM2.git

Compile the [ORB_SLAM2] according to the README.md

Run the stereo node:

	$ rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml false

Run the movesense node:

	$ rosrun movesense-ros movesense-ros_LR_node __name:=image

Don't forget to update the camera param of ORB_SLAM2/Examples/Stereo/EuRoC.yaml referring to movesense-ros/config/camera_param.yaml