This is a package to initialise communication with an iOS device running the ROAR_ios codebase, and establish communication with ROS. It connects to the iOS device and reads sensor data from the camera, depth-camera, imu, odometry and publishes the same on various rostopics in standard ROS message formats. It also listens for controls on a rostopic and streams the same to the iOS device.
To get a local copy up and running follow these simple steps.
It is assumed that your system(s) is running Ubuntu 18.04/20.04 and has a working installation of ROS1 (Melodic or later). This repo has not been tested on other linux distributions.
Please follow instructions on how to install ROS Melodic if you are using Ubuntu 18.04, or ROS Noetic if you are using Ubuntu 20.04. The desktop-full version needs to be installed.
-
Make a ROS workspace if not done already.
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src
-
Clone the repository and its dependencies
git clone https://github.com/amansrf/ros_roar_streamer.git
-
Install required ROS packages
cd ~/catkin_ws sudo apt-get update sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
-
Create a virtual environment and install python packages
virtualenv venv -p python3 source ~/catkin_ws/venv/bin/activate pip install -r ~/catkin_ws/src/ros_roar_streamer/${ROS_DISTRO}_requirements.txt
-
Build all the packages and source the workspace
catkin_make source ~/catkin_ws/devel/setup.bash
Calibrate the iPhone and change the IP Address in ~/catkin_ws/src/ros_roar_streamer/config.py to match what is shown in the app
Then launch the various ROS Nodes using:
roslaunch ros_roar_streamer streamer.launchYou should see a depth image stream and an rgb image stream on your screen!
If you have any issues or find any bugs please feel free to contact:
Aman Saraf - amansaraf99@gmail.com, aman_saraf@berkeley.edu Sunisha Fernandez - sunisha.fernandez@gmail.com, sunisha.fernandez@berkeley.edu