Miscellaneous ROS Notes¶

[ROS metapackage enabling FRC teams to use ROS on their robots](https://github.com/uwreact/frc_control

Creating New Packages¶

Create new_package_name, which depends on std_msgs and rospy

cd ~/catkin_ws/src
catkin_create_pkg new_package_name std_msgs rospy

ROS Logging¶

For unknown reasons, normal Python logging is disabled after a call to rospy.init_node(). ROS logging does not work before a call to rospy.init_node(). So use Python logging before and Ros logging after the call to rospy.init_node().

Python Scripts¶

Top-level ROS Python scripts require a shebang at the top of the file:

#!/usr/bin/env python

ROS Uninstall¶

A ROS uninstall is described here.

Uninstall

sudo apt-get remove ros-*

ROS Image Viewer¶

Images published to topics can be viewed with rqt_image_vew or the rqt Image View plugin.

Install the necessary image transport plugins

sudo apt-get install ros-kinetic-image-transport-plugins

ROS - OpenCV Bridge¶

Details on converting images between ROS and OpenCV are here.

ROS Video Server¶

Details of the web_video_server package are here.

Install web_video_server with:

sudo apt-get install ros-kinetic-web-video-server

Run web_video_server with:

rosrun web_video_server web_video_server