Ros2 Camera Screen Navigation

Installation

• Source Ros2 Humble source /opt/ros/humble/setup.bash
• Source Gazebo source /usr/share/gazebo/setup.sh
• Source your workspace source <example_workspace>/install/setup.sh
• Export models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<example_workspace>/src/touch_navigation/models
• Select Turtlebot model as waffle export TURTLEBOT3_MODEL=waffle
• Change turtlebot3_waffle folder in turtlebot3_gazebo/models with new file in RobotModelnURDF
• Change turtlebot3_waffle.urdf file in turtlebot3_description with new file in RobotModelnURDF

Usage

• For starting monitor independently from map ros2 run touch_navigation monitor
• For starting both gazebo and monitor ros2 launch touch_navigation monitor_with_gazebo.launch.py
• For starting just monitor ros2 launch touch_navigation monitor_only.launch.py

Changing Sensor Resolution

For changing the sensor (depth or rgb camera) you can change the values inside width and height on the model.sdf file

<sensor name="intel_realsense_r200_depth" type="depth">
  <camera name="realsense_depth_camera">
    <image>
      <width>192</width>
      <height>1080</height>
    </image>
  </camera>
</sensor>