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Navigation Subteam

Internal Nodes and Topics

Node Description Subscribed Topics Command Line Arguments Published Topics
mock_camera_publisher Publishes a mock camera image stream - video
verbosity		 navigation/mock_camera
algorithm_publisher Runs algorithm on image stream /camera/color/image_raw algo*
mock
show
verbosity		 navigation/<alg>
post_processor_publisher Runs the post processor on the algorithm /navigation/<alg> port*
verbosity		 navigation/post_processing

To run a node, run the following command:

ros2 run navigation mock_camera_publisher

Nodes with Command Line Arguments

You can also run the nodes with the command line arguments:

ros2 run navigation algorithm_publisher --ros-args -p alg:=center_row
ros2 run navigation algorithm_publisher --ros-args -p alg:=center_row -p mock:=False -p show:=True

Not passing any arguments will result in default argument values being used. Arguments marked with * are required.

common arguments

These arguments apply to all Nodes

verbosity

  • Type: int
  • Int: The verbosity of the logger:
    • 0: UNSET
    • 10: DEBUG
    • 20: INFO
    • 30: WARN
    • 40: ERROR
    • 50: FATAL
  • Default: 20 (INFO)

mock_camera_publisher

video

  • Type: string
  • String: use the video file at src/navigation/videos/<video>.mp4 as the mock camera stream
  • Empty string / undefined: use the images in src/navigation/images/*.png for the mock camera stream
  • Default: ''

algorithm_publisher

alg

  • Type: string
  • String: The name of the algorithm to run:
    • hough
    • center_row
    • mini_contour
    • mini_contour_downward
    • scanning
    • check_row_end
    • seesaw
    • center_down
  • Required

mock

  • Type: boolean
  • True: Use navigation/mock_camera for the image stream
  • False: Use /camera/color/image_raw for the image stream
  • Default: False

show

  • Type: boolean
  • True: Display the image stream and the processed frames.
  • False: Do not display the image stream and the processed frames.
  • Default: True

External Nodes and Topics

Intel Realsense D455

To start the camera run:

ros2 launch realsense2_camera rs_launch.py device_type:=d455 initial_reset:=true

The image stream is published to multiple topics. We will be using /camera/color/image_raw.

List of important links that include information on the topics and on the arguments for the launch file:

Navigation pipeline

We maintain a ROS2 Launch file that allows us to run all Nodes in the navigation pipeline at the same time.

# run launch file
ros2 launch navigation navigation_launch.py

To configure arguments for individual nodes in the pipeline edit params.yml before running colcon build.