follow_the_gap_realsense

How to start the ros nodes to run our car

1. Start the pololu node

roslaunch ros_pololu_servo pololu_example.launch

Code used for ros_pololu can be found at https://github.com/geni-lab/ros_pololu_servo If you want to send a single command to the pololu run a command of the form:

rostopic pub -1 /pololu/command ros_pololu_servo/MotorCommand "joint_name: 'steering'
position: 1.0
speed: 1.0
acceleration: 0.0" 

In a separate window when the ros_pololu node is running.

2. Start the Realsense node

roslaunch realsense2_camera rs_camera.launch

Code used for the realsense node can be found at https://github.com/IntelRealSense/realsense-ros