Oculus Prime - ROS Nodes and Launch Files Summary

This page lists the relevant ROS nodes and launch files from the oculusprime_ros package, and briefly describes their functions.

Nodes

arcmove_globalpath_follower.py
Interprets output broadcast by ROS move_base package, and sends movement telnet commands to Oculusprime Java Server, to drive the robot from initial position to goal. (See path following for more info)

cmd_vel_listener.py
Utility to listen to standard ROS movemement twist messages on the cmd_vel topic, interpret and send equivalent movement telnet commands to Oculusprime Java Server

follower.cpp
Ported from Turtlebot Apps package follower app. Ouputs Twist messages to cmd_vel topic, to follow centroid of point cloud blob in front of robot as read by depth camera

map_remote.py
Top-level overseer and liason between ROS and the Oculus Prime Java Server, during map making (see mapping)

odom_tf.py
Continuously reads gyro and encoder data from the Oculus Prime java server, interprets and broadcasts the data as a ROS tf transform and nav_msgs/Odometry message (see odometry)

remote_nav.py
Top-level overseer and liason between ROS navigation stack and the Oculusprime Java Server. Relays initial pose and goal coordinates between Oculusprime web UI and move_base action server, and performs some recovery actions

Launch Files

amcl.launch
Launches the Adaptive Monte-Carlo Localization AMCL package, which tracks the pose of the robot against the map

depthcam_to_java.launch
Utility launch file to copy output from depth camera to shared memory location, to be read by Oculusprime Java Server

fake_laser.launch
Sets up the depth camera for navigation and mapping. Starts up the camera and the modified depthimage_to_laserscan node

follower.launch
Starts up the depth camera, and launches follower and cmd_vel_listener nodes to enable blob follower mode

globalpath_follow.launch
High level launch file to start up navigation stack and required oculusprime_ros nodes; includes static transform publisher to set position of depth camera with respect to the robot

gmapping.launch
Launches the Gmapping package, which provides laser-based SLAM (Simultaneous Localization and Mapping), for creating maps

make_map.launch
Launches gmapping and other functions to put Oculus Prime in create map mode; for use with the Oculusprime web UI or Rviz

openni2.launch
Starts up depth camera with default settings

openni2_320.launch
Starts up depth camera in lower 320×240 resolution

remote_nav.launch
Top level launch file when running navigation from web UI, launches globalpath_follow.launch and remote_nav.py node