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Merge pull request ros-industrial-attic#11 from schornakj/feature/add…
…-ros1-demo-node Add a standalone ROS1 demo application
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# yak_ros | ||
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Example ROS frontend node for [the Yak TSDF package](https://github.com/ros-industrial/yak). | ||
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## Demo | ||
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This package contains a simulated image generator node and a launch file to provide a self-contained demonstration of TSDF reconstruction from streaming depth images. Currently the demo is only supported for ROS1. | ||
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The demo depends on [the gl_depth_sim package](https://github.com/Jmeyer1292/gl_depth_sim) to provide simulated depth images. | ||
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The demo node depends on external packages that aren't required by the core `yak_ros` node, so compilationo of the demo node is skipped by default. To build the demo, pass the `BUILD_DEMO` flag to catkin as `True`: | ||
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``` | ||
catkin build --cmake-args -DBUILD_DEMO=True | ||
``` | ||
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After re-sourcing the workspace, start the demo from the provided launch file: | ||
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``` | ||
roslaunch yak_ros demo.launch | ||
``` |
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