Gazebo

starts gazebo, rc marker, cameras

roslaunch smocap_gazebo demo_gazebo_cfg_z1.launch

starts smocap

rosrun smocap smocap_node.py _cameras:=camera_1 _detector_cfg_path:=rospack find smocap/params/gazebo_detector_cfg.yaml _run_mono_tracker:=false

watch

rviz -d rospack find smocap_viz/smocap.rviz

1. Start gazebo and load a single (remotely controlled) infrared marker:

   roslaunch smocap_gazebo gazebo_hog_marker.launch
   

### closing the loop

roslaunch smocap_gazebo demo_gazebo_cfg_2.launch rosrun smocap smocap_node.py _cameras:=camera_1 detector_cfg_path:=rospack find smocap/params/gazebo_detector_cfg.yaml _run_mono_tracker:=true _trap_losses:=false

~/work/oscar.git/oscar_simulator/scripts $ ./hog_simulator.py ~/work/overlay_ws/src/oscar/oscar_control/scripts $ ./pp_guidance_node.py

Running real setup

• have a fixed camera output an image topic in ROS

Aruco

One marker, one camera

1. starting gazebo spawning an hog aruco marker:

   roslaunch smocap_gazebo gazebo_hog_marker.launch marker_urdf:=hog_chessboard.urdf.xacro marker_texture:=Aruco0
   

2. spawning a single fixed camera in gazebo:

   roslaunch smocap_gazebo  single_cam.launch pos_x:=0. pos_y:=0. pos_z:=3. rot_P:=1.5707963267948966
   

3. launching the mocap node

   rosrun smocap smocap_aruco_node.py _cameras:=camera_1
   

One marker, two cameras

• second camera:

  roslaunch smocap_gazebo  single_cam.launch camera_id:=2 pos_x:=1. pos_y:=1. pos_z:=2. rot_P:=1.5707963267948966
  

• mocap node with two cameras

  rosrun smocap smocap_aruco_node.py _cameras:=camera_1,camera_2