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Following on from Roboearth Tutorial

I have completed both the roboearth tutorials listed here http://wiki.ros.org/roboearth_stack/Tutorials/ and am able to run the object detection in isolation, however I don't fully understand how to integrate it with my existing code [For example just driving around stopping in front of an object and then informing what has been detected].

Perhaps there is an code example of a someone using roboearth on board a robot for object detection?

(Perhaps I'm missing something fundamental about ROS)

Thanks in advance

rmb209