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Set Focus Point

Description: This tutorial shows you, how to make use of the "set_focus_point" script, allowing you to make the robots camera focus a certain point on the map just by clicking it.

Tutorial Level: INTERMEDIATE

Setup

Before beginning, make sure you have all of the following processes up and running:

Package

Launch-File

Launch-File Simulation

asr_flir_ptu_driver

ptu_left.launch

ptu_left_mock.launch

asr_flir_ptu_controller

ptu_controller.launch

ptu_controller.launch

asr_mild_navigation

navigation.launch

simulation.launch

asr_robot_model_services

RobotModelServiceReal.launch

RobotModelServiceSim.launch

Tutorial

Once all required processes are set up, start the set_focus_point script via

roslaunch asr_robot_model_services set_focus_point.launch

Now you can send commands to the script using rviz.

height="107",width="612"

Use the Publish Point tool to select a focus point on the map.

height="551",width="700"

The robot will then try focus the selected point on the map and move the PTU joints accordingly.

If you have activated the visualizeIK option and have selected the visualization topic (default: /asr_robot_model_services/IK_Visualization),

you can also see the resulting view vector in RViz.

Common mistakes

The ptu is not moving after I selected a focus point.

Make sure, that all processes are up and running correctly.

Also, check asr_flir_ptu_driver and asr_flir_ptu_controller to make sure, that the calculated angles were within the bounds of the PTU.


2020-01-18 12:29