Tutorials

Calibrating a Monocular Camera with ROS

ROS use OpenCV for camera calibration but the format that it stores the data is different than OpenCV. Also, you need to know where to place the camera calibration files so ROS can find it and publish it. 1.First, you need to install usb cam package from ROS and uvcdynctrl to disable autofocus:

2.Open a terminal and run roscore: …

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pkg-config and CMake

The environmental variable: PKG_CONFIG_PATH is the place that you should place all of your “.pc” files. Example: Type in the shell:

Then you can type:

Now how to print environmental variable in CMake file:

How to set environmental variable in CMake file:

After setting environmental variable PKG_CONFIG_PATH pointing to your .pc …

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How to find CMake from arbitrary installed locations

In my other tutorial, I showed you how to install your code in an arbitrary location in Unix/ Linux systems. In this tutorial, I’m gonna show you how to find them after installation. Here I have two examples: OpenCV, PCL point cloud I can assume that you have compiled and installed them using the following command:

1)PCL …

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Installing programs into arbitrary location in Unix/ Linux systems

After you compiled and built your code, you should install it by calling sudo install to put headers and shared libraries into /usr/include/ and /usr/lib/ and configuration files into /usr/local and /usr/share usually, I don’t like to touch my system binaries and I prefer to install my compiled code into my home directory so I can safely delete them anytime. If you using …

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Installing Kinect on Ubuntu 14.04 and make it run in ROS Indigo

Kinect support on Linux has a complicated history, there used to be various packages on Fuerte, Groovy and Hydro which they don’t work on ubuntu 14.10 and indigo. I’ve tried them all to find a working solution, so follow these step carefully and you will be able to read data from Kinect in ubuntu 14.10 …

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Converting a PCL pointcloud to a ROS pcl message/ ROS pcl message to PCL point cloud

The relation between ROS and PCL point cloud is a little bit complicated, at first, it was part of ROS, then it became a separate project and whole the time you need some serializer and deserializer to send and receive point cloud ROS messages. There are some old deprecated ways to do that and they …

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