Description

Stereo_Image_Proc is a package native to ROS that takes two images from a stream and then combines them to return a disparity map that in turn returns a pointwise representation of the environment around the rover.

INTRO

This guide assumes three things:

1. ROS is setup properly and configured

2. The husky_ws is setup using the previous step and the .bashrc has been setup properly for said workstation

   1. Git (start at the Install Git on Linux section)

3. The previous step (install) for the camera install was run

STEPS

1. Run the husky playpen lauch file

   1. roslaunch husky_gazebo husky_playpen.launch
      

2. Make sure the images are being published.

   1. rostopic list | grep stereo
      

1. Run the Stereo_Image_Proc

                 ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc

TEST

1. Make sure the Stereo_Image_Proc is publishing

   1. rostopic echo stereo/points2