Hands-On ROS for Robotics Programming

Simulating the camera

Follow these steps for the simulation:

1. Let's first place the robot in Gazebo the same way we did in the previous chapter and enable remote control with the keyboard:

T1 $ roslaunch virtual_slam gopigo3_basic_world.launch T2 $ rosrun key_teleop key_teleop.py /key_vel:=/cmd_vel

key_teleop allows you to remotely control the GoPiGo3 with the arrow keys of your keyboard.

2. Now, launch a node from the image_view package that comes preinstalled with ROS:

T3 $ rosrun image_view image_view image:=/gopigo/camera1/image_raw

We are remapping the image topic so that the node takes its data from the camera node topic, /gopigo/camera1/image_raw. This topic is defined in the preceding snippet of the camera controller plugin with ...