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See what your Duckiebot sees

Modified 2018-09-28 by Andrea Censi

You have configured the Duckiebot as documented in Unit B-5 - Duckiebot Initialization.

You have configured Docker communication as documented in Unit B-7 - Setting up the Docker workflow.

Viewing an Image Stream on Your Laptop

Modified 2019-04-03 by Andrea F. Daniele

Start publishing images through ROS on the Duckiebot using the container rpi-duckiebot-ros-picam:

laptop $ docker -H hostname.local run -it --name ros-picam --network=host  --device /dev/vchiq -v /data:/data  duckietown/rpi-duckiebot-ros-picam:master18

you need -v /data:/data because of the calibration procedure later.

You should see of output that ends with:

WARN: [/duckiebot/cam_info_reader_node] ==============CompressedImage
INFO: [/duckiebot/camera_node] Initializing......
INFO: [/duckiebot/camera_node] ~framerate_high = 30
INFO: [/duckiebot/camera_node] ~framerate_low = 15
INFO: [/duckiebot/camera_node] ~res_w = 640
INFO: [/duckiebot/camera_node] ~res_h = 480
INFO: [/duckiebot/camera_node] Initialized.
INFO: [/duckiebot/camera_node] Start capturing.
INFO: [/duckiebot/camera_node] Published the first image.

Now start the GUI tools container in a different terminal:

laptop $ dts start_gui_tools hostname

The container will start. At the prompt, run:

container $ rqt_image_view

The command should open a window where you can view the image. You have to select the right topic from the dropdown menu.

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