wehub-resource-sync
99 lines
5.3 KiB
Markdown
99 lines
5.3 KiB
Markdown
<!--[metadata]
|
|
title = "ROS node"
|
|
tags = ["2D", "3D", "Pinhole camera", "ROS", "Time series", "URDF"]
|
|
thumbnail = "https://static.rerun.io/ros_node_example_new/e15b81b183ccafd8ee2994a6abf0b06cbdf22741/480w.png"
|
|
thumbnail_dimensions = [480, 318]
|
|
-->
|
|
|
|
A minimal example of creating a ROS node that subscribes to topics and converts the messages to Rerun log calls.
|
|
|
|
The solution here is mostly a toy example to show how ROS concepts can be mapped to Rerun.
|
|
|
|
<picture>
|
|
<img src="https://static.rerun.io/ros_node_example_new/e15b81b183ccafd8ee2994a6abf0b06cbdf22741/full.png" alt="Rerun viewer showing data streamed from the example ROS node">
|
|
<source media="(max-width: 480px)" srcset="https://static.rerun.io/ros_node_example_new/e15b81b183ccafd8ee2994a6abf0b06cbdf22741/480w.png">
|
|
<source media="(max-width: 768px)" srcset="https://static.rerun.io/ros_node_example_new/e15b81b183ccafd8ee2994a6abf0b06cbdf22741/768w.png">
|
|
<source media="(max-width: 1024px)" srcset="https://static.rerun.io/ros_node_example_new/e15b81b183ccafd8ee2994a6abf0b06cbdf22741/1024w.png">
|
|
<source media="(max-width: 1200px)" srcset="https://static.rerun.io/ros_node_example_new/e15b81b183ccafd8ee2994a6abf0b06cbdf22741/1200w.png">
|
|
</picture>
|
|
|
|
## Used Rerun types
|
|
[`Image`](https://www.rerun.io/docs/reference/types/archetypes/image), [`DepthImage`](https://rerun.io/docs/reference/types/archetypes/depth_image), [`Pinhole`](https://www.rerun.io/docs/reference/types/archetypes/pinhole), [`Transform3D`](https://www.rerun.io/docs/reference/types/archetypes/transform3d), [`GridMap`](https://www.rerun.io/docs/reference/types/archetypes/grid_map), [`Points3D`](https://www.rerun.io/docs/reference/types/archetypes/points3d), [`LineStrips3D`](https://www.rerun.io/docs/reference/types/archetypes/line_strips3d), [`Scalars`](https://www.rerun.io/docs/reference/types/archetypes/scalars)
|
|
|
|
## Background
|
|
The [Robot Operating System (ROS)](https://www.ros.org) helps build robot applications through software libraries and tools.
|
|
Although Rerun doesn't have native ROS support, you can easily create a basic ROS 2 Python node to subscribe to common ROS topics and log them to Rerun.
|
|
In this example, Rerun visualizes simulation data, including robot pose, images, camera position, laser scans, point clouds, and velocities, as the robot navigates the environment.
|
|
|
|
## Logging and visualizing with Rerun
|
|
|
|
Find the detailed code walkthrough and explanation for visualizing this example here: [Using Rerun with ROS 2](https://www.rerun.io/docs/howto/integrations/ros2-nav-turtlebot).
|
|
|
|
For more information on future improved ROS support, see tracking issue: [#1527](https://github.com/rerun-io/rerun/issues/1537)
|
|
|
|
## Run the code
|
|
|
|
### Dependencies
|
|
|
|
> NOTE: Unlike many of the other examples, this example requires a system installation of ROS
|
|
in addition to the packages from requirements.txt.
|
|
>
|
|
> The commands are focused on the official ROS installation path on an Ubuntu distro, but should also work analogously if you installed ROS through [Robostack](https://robostack.github.io/index.html).
|
|
|
|
This example was developed and tested on top of [ROS2 Kilted Kaiju](https://docs.ros.org/en/kilted/index.html), with [Nav2](https://docs.nav2.org/) and the Turtlebot 4 simulation example from the [nav2_bringup](https://github.com/ros-navigation/navigation2/tree/main/nav2_bringup) package.
|
|
If you use another version of ROS, e.g. [Jazzy](https://docs.ros.org/en/jazzy/index.html), you should be able to just replace `kilted` with `jazzy` in the commands below.
|
|
|
|
Installing ROS is outside the scope of this example, but you will need the equivalent of the following packages:
|
|
```
|
|
sudo apt install ros-kilted-desktop ros-kilted-nav2-bringup
|
|
```
|
|
(`ros-kilted-nav2-bringup` pulls in all the navigation and simulation packages we need as dependencies, if not installed yet)
|
|
|
|
Then clone the Rerun repository to get the example code:
|
|
```bash
|
|
git clone https://github.com/rerun-io/rerun.git # Clone the repository
|
|
cd rerun
|
|
git checkout latest # Check out the commit matching the latest SDK release
|
|
```
|
|
|
|
Make sure to use a Python virtual environment. Here, we use `venv` (`sudo apt install python3-venv`):
|
|
```bash
|
|
python3 -m venv --system-site-packages rerun-ros-example
|
|
source rerun-ros-example/bin/activate
|
|
```
|
|
|
|
Then install the latest Rerun SDK and the necessary libraries specified in the requirements file of this example:
|
|
```bash
|
|
pip install --upgrade rerun-sdk
|
|
pip install -r examples/python/ros_node/requirements.txt
|
|
```
|
|
|
|
In addition to installing the dependencies from `requirements.txt` into a venv you will also need to source the
|
|
ROS setup script:
|
|
```bash
|
|
source /opt/ros/kilted/setup.bash
|
|
```
|
|
|
|
### Run the code
|
|
|
|
First, in one terminal launch the Nav2 turtlebot demo:
|
|
```bash
|
|
source /opt/ros/kilted/setup.bash
|
|
|
|
ros2 launch nav2_bringup tb4_simulation_launch.py headless:=False
|
|
```
|
|
|
|
This should open two windows for Gazebo and RViz. Use the RViz window to initialize the pose estimate to put the robot on the map, and set a navigation goal to let it move.
|
|
|
|
You can now connect to the running ROS system by running this in a separate terminal:
|
|
```bash
|
|
source /opt/ros/kilted/setup.bash
|
|
|
|
python examples/python/ros_node/main.py # run the example
|
|
```
|
|
|
|
If you wish to customize it, or explore additional features, use the CLI with the `--help` option for guidance:
|
|
```bash
|
|
python examples/python/ros_node/main.py --help
|
|
```
|