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Can RVIZ2 connect to ROS(Kinectic) TOPICS.

asked 2019-01-20 10:50:01 -0500

tmichals gravatar image

Is there away to get RVIZ2 on my windows10 computer to connect to a Intell realsense camera running on a nvidia TX2 ubuntu ROS(kinectic) computer? I can get RVIZ to work as long as I am running RVIZ on a ROS ubuntu computer, but I need to be able to connect RVIZ from a windows10 computer. Since only RVIZ2 and RVIZ1 will run on windows10 that is my only choice left. I have tried getting RVIZ to work by installing ubuntu natively on windows10...but I was not able to get the video to stream into the Xming terminal. I could see the ROS Topics in Xming...just no video. So now I am trying to get RVIZ2 working in windows.

I am new to ROS2, but I was able to get the ROS2 Windows-Install-Binary working. I installed OpenSplice for Crystal.

I can start rviz2 from command prompt, and add a camera...but as I would expect the Topic has a status Error- Error Subscribing: Empty Topic name. There are no RealSense Topics to attach to.

I know from running rviz on an ubuntu computer there are some other prerequisites like.. exporting my ROS_IP and exporting to the ROS_MASTER_URI=http://xx.xx.xx.xx:11311 that have to be done before I can launch rviz. So how does ROS2 do this? Can ROS2 get topics from ROS master?!

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Probably not a full solution, but just leaving this here: Bringing the power of Windows 10 to the Robot Operating System.

gvdhoorn gravatar imagegvdhoorn ( 2019-01-21 04:07:09 -0500 )edit

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answered 2019-01-20 12:28:36 -0500

ChriMo gravatar image

Hi, I'm thinking about a solution with rosbridge to connect to remote robot.

  1. Robot is running ros1 with intel realsense r200 / euclid zr300 + roscore.

  2. start rosbridge (set MASTER_URI to remote roscore system) at OSX or Windows running ros2.

  3. start rviz2 at OSX or Windows running ros2.

I've never tried this with real systems, but it will be a chance to use ros2 unsupported hardware in a mixed environment.

@ROS2 developers, it this possible ?

Cheers Chrimo

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First unsuccessful tries: ros@ros12v:~$ ros2 run ros1_bridge dynamic_bridge /opt/ros/crystal/lib/ros1_bridge/dynamic_bridge: error while loading shared libraries: libroscpp.so: cannot open shared object file: No such file or directory

ChriMo gravatar imageChriMo ( 2019-01-20 13:05:07 -0500 )edit

ros@ros12v:~$ ros2 run ros1_bridge dynamic_bridge Failed to look up /dynparam_23226_1548010773659/set_logger_level Failed to look up /dynparam_23226_1548010773659/get_loggers Failed to look up /dynparam_28193_1548010891439/set_logger_level Failed to look up /dynparam_28193_1548010891439/get_loggers

ChriMo gravatar imageChriMo ( 2019-01-20 13:05:41 -0500 )edit

Yes I have seen some references to ROS2's rosbridge_suite actually working with a RealSense camera .. https://roscon.ros.org/2018/presentat...
https://www.youtube.com/watch?v=ZM6jm...

this would be the setup that I would be looking for...

tmichals gravatar imagetmichals ( 2019-01-20 17:02:46 -0500 )edit

rosbridge_suite is completely different !!! I'm thinking about ros1_bridge.

Bridge (layer2) in this environment is complete confusing, it's an application gateway (layer7).

rosbridge_suite : ros1 - json websockets

ros1_bridge : gateway between ros1 and ros2

ChriMo gravatar imageChriMo ( 2019-01-20 17:37:08 -0500 )edit

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Asked: 2019-01-20 10:50:01 -0500

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Last updated: Jan 20