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Initial TurtleBot subscriber demo #1523

Merged
merged 16 commits into from
Mar 8, 2023
Merged

Initial TurtleBot subscriber demo #1523

merged 16 commits into from
Mar 8, 2023

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jleibs
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@jleibs jleibs commented Mar 7, 2023

Just a fairly minimal mapping of assorted ros topics to corresponding rerun log statements.
Each message also uses tf2 to look up and log a transform for the correct point in time.

We log the point-cloud twice: once in the robot-frame and once in the map-frame as a workaround for #1522

ros2_launched

TODO:

Checklist

@jleibs jleibs added the examples Issues relating to the Rerun examples label Mar 7, 2023
@jleibs jleibs marked this pull request as ready for review March 7, 2023 05:03
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@teh-cmc teh-cmc left a comment

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This all looks great, though obviously I know nothing about ROS.

Would it be possible to put all the ROS stuff in a Dockerfile, run it in headless mode in a container and connects to from the Rerun script? That would make experimenting with this a whole lot simpler.

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jleibs commented Mar 7, 2023

Note from @nikolausWest : we should make sure this fails gracefully for users that don't have ROS installed since unlike the other examples the pip requirements alone are insufficient.

@jleibs jleibs mentioned this pull request Mar 7, 2023
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Nice!

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3 participants