Repository to visualize the sensor outputs from the BlueRov2.
To run, make sure that you need a rosbag. The rosbag should ideally have the following messages:
topics: /camera/camera_info : sensor_msgs/CameraInfo
/camera/image_raw/compressed : sensor_msgs/CompressedImage
/dvl/data : waterlinked_a50_ros_driver/DVL
/dvl/local_position : geometry_msgs/PoseWithCovarianceStamped
/fluid_pressure : sensor_msgs/FluidPressure
/path : nav_msgs/Path
/ping_sonar/data : ping_sonar/SonarEcho
/ping_sonar/profile : ping_sonar/SonarEchoProfile
/state : geometry_msgs/PoseWithCovarianceStamped
/tf : tf2_msgs/TFMessage
/zedm/zed_node/disparity/disparity_image : stereo_msgs/DisparityImage
/zedm/zed_node/imu/data : sensor_msgs/Imu
/zedm/zed_node/left/camera_info : sensor_msgs/CameraInfo
/zedm/zed_node/right/camera_info : sensor_msgs/CameraInfo
/zedm/zed_node/right_raw/image_raw_color/compressed : sensor_msgs/CompressedImage
/zedm/zed_node/stereo/image_rect_color/compressed : sensor_msgs/CompressedImage
zedm/zed_node/left_raw/image_raw_color/compressed : sensor_msgs/CompressedImage
Use svo_utils to obtain such rosbags.
On one terminal:
roslaunch bluerov_visualizer bringup_robot.launch
Then, on another terminal:
rosbag play <ROSBAG_NAME>.bag
The expected output should look like the following:
