Getting Started

Vision Launch file

After having launched the main simulation with Gazebo run the following launch file to start the stereo image processing nodes

$ roslaunch vision vision.launch

To use real cameras edit the vision.launch file and uncomment the following section

<node
    pkg="cv_camera"
    type="cv_camera_node"
    name="left"
    args="$(arg cam1)" >
</node>
<node
    pkg="cv_camera"
    type="cv_camera_node"
    name="right"
    args="$(arg cam2)" >
</node>

and replace the values of the following arguments

<arg name="cam1" value="0" />
<arg name="cam2" value="1" />

with the real device ids of the camera (they can be found from the linux filesystem)

Parameters tuning

To live-edit the parameters of the stereo image processing run:

$ rosrun rqt_reconfigure rqt_reconfigure