Enable ROS2
bash
python src/main.py --ros2Topics
| Topic | Type | Description |
|---|---|---|
/vision/detections | JSON | Object detections |
/vision/depth | sensor_msgs/Image | Depth map (32FC1) |
/vision/faces | JSON | Face detections |
/vision/gestures | JSON | Gesture recognitions |
/vision/poses | JSON | Body poses |
/vision/status | JSON | System status |
/vision/lidar | sensor_msgs/PointCloud2 | LIDAR point cloud (v0.7.0+) |
/vision/fusion | JSON | Sensor fusion data (v0.7.0+) |
Commands
bash
ros2 topic pub /vision/cmd std_msgs/String "data: 'forward'" -1
ros2 topic pub /vision/cmd std_msgs/String "data: 'stop'" -1
ros2 topic pub /vision/cmd std_msgs/String "data: 'follow'" -1Launch Files
bash
ros2 launch openeyes openeyes.launch.py ros2:=true
ros2 launch openeyes unified.launch.py
ros2 launch openeyes nav2.launch.py map:=/path/to/map.yaml
# v0.7.0+ New Launch Files
ros2 launch openeyes lidar.launch.py lidar_topic:=/scan
ros2 launch openeyes multi_camera.launch.py cameras:=[0,1,2]Navigation
bash
python src/main.py --nav2 --ros2
ros2 topic pub /navigation/goal std_msgs/String "data: '2.0 1.0 0.0'"