zed-ros2-plot

This node plots position and heading data from the zed camera.

The starting point for the code is based on the zed_pose_tutorial

extra cpp-libraries

• matplotlib-cpp

run

cd ~/ros2_ws
colcon build --packages-select zed_plot

# foxglove setup
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
# rviz sample
ros2 launch zed_display_rviz2 display_zed2.launch.py
# transforms
ros2 run tf2_ros static_transform_publisher 0 0 0 1.57 0 -0.27 base_link laser_frame
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map myGrid
ros2 run tf2_ros static_transform_publisher 0 0 0 1.57 0 0 robotPoseFrame laser_frame
# record
ros2 bag record /scan /zed2i/zed_node/pose /robotPose /tf /tf_static

# launch
ros2 launch zed_plot zed_plot_launch.py

# start wolfwagen
ros2 run joy joy_node --ros-args -p autorepeat_rate:=0.0
./xbox_controller.py
./pwm_genV3.py


ros2 run sllidar_ros2 sllidar_node
ros2 launch zed_wrapper zed2i.launch.py
ros2 run zed_plot zed_plot --ros-args -r odom:=/zed2i/zed_node/odom -r pose:=/zed2i/zed_node/pose

setup port

# check if linux recognizes the lidar usb serial convertor
lsusb
ls -l /dev |grep ttyUSB

# set write permission to device 0 (could be a different number)
# which is the usb serial convertor for lidar
sudo chmod 666 /dev/ttyUSB0