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writing cmd_vel node using ROS with segmentic segmentation running

asked 2021-07-18 09:38:39 -0600

tony6 gravatar image

I currently have a semantic segmentation system setup and it is up and it is running with an algorithm to allow my robot to move/stop. I would like to send commands to my robot running ros subscribed to cmd_vel. My entire semantic segmentation will be running on a separate PC running Ubuntu 18.04 while robot is running on Ubuntu 16.04. How can I write the publisher node? Should I copy the segmentation folder into catkin_ws/src?

Appreciate any help as I am new to ROS and AV Operation.

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answered 2021-07-21 16:31:23 -0600

Mike Scheutzow gravatar image

There are two things you need to be aware of. 1) ROS assumes that all ros nodes are running the same version of ROS (e.g. all kinetic, or all melodic.) 2) the ROS version is also strongly tied to the Ubuntu version.

The easiest path is probably for you to set up a pc with Ubuntu 16.04 and kinetic, and run your semantic code on that. That pc will then be able to publish to topic /cmd_vel and your robot will be able to receive the messages.

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Asked: 2021-07-18 09:38:39 -0600

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Last updated: Jul 21 '21