usb-cam启动
cd catkin_ws_usb-cam/devel/setup.bash
source setup.bash
cd catkin_ws_usb-cam/src/usb_cam/launch
roslaunch usb_cam-test.launch(有的时候要在这个launch文件里面修改相机型号和范围)
velodyne启动
roslaunch velodyne_pointcloud VLP16_points.launch
rosrun rviz rviz -f velodyne (在rviz查看点云图)
GIGE相机:
https://blog.csdn.net/weixin_41965898/article/details/116801491
对大佬表示感谢
use rviz subscribe topic: /hikrobot_camera/rgb
source ./devel/setup.bash
roslaunch hikrobot_camera hikrobot_camera_rviz.launch
联合标定:
启动雷达和相机并在rviz上面可以看
创建录制包
查看有哪些端口使用
rostopic list
rosbag record -O Calibra_data.bag /zed2/zed_node/left/image_rect_color /scan
Calibra_data.bag是你的名字,自己设计
/zed2/zed_node/left/image_rect_color相机上面看到的topic
/scan是激光的topic记得空格的位置哦
运行录制的包
rosbag play bagName.bag /velodyne_points:=/points_raw