Cones_To_Markers

A simple ros2 message converter.

Description

A simple ros2 package that converts the Lart ConeArray Topic message to a MarkerArray message to visualize in rviz or foxglove studio.

Getting Started

Dependencies

Bare Metal

• ros2 (humble if possible)
• lart_msgs

Dockerized

• docker engine / docker desktop

Installing

Bare Metal

Go to your ros2 workspace.

Clone this repo to your src directory.

Build the package from workspace root

colcon build
source ./install/setup.sh

Dockerized

Clone this repo and go to the root directory

Give execution priviledge to fetch_git.sh.

And then run this:

./fetch_git.sh
docker build . -t cone_marker

Executing program

Bare Metal

ros2 run cone_markers mark_cones


## debug commands
# Publisher
ros2 run cone_markers debug_publisher

# Subscriber
ros2 run cone_markers debug_subscriber

Dockerized

docker run cone_marker