Launch Sensors

[zrum]

In the video you show a lot of Sensors loaded in rqt but in the tutorials and documentation you dind't show how to launch them, is there a specific code or is needed to add other repositories for that.

[HashirZahir]

Hi, simply running roslaunch uuv_gazebo_worlds ocean_waves.launch

followed by

roslaunch uuv_descriptions upload_rexrov.launch

will display the thrusters, cameras, IMU, pressure sensor, magnetometer, sonar and vehicle velocity information via the DVL (Doppler Velocity Logger). You can use RQT or RVIZ to visualize these data, or use your own ROS publishers/subscribers to manipulate the data for your own use.

If you would like to add your own sensors, I recommend following the tutorial to create a new vehicle on the wiki here. If you want to look at a specific file, say the sensor file for the rexrov vehicle, you can check the rexrov_sensors.xacro

Hope this helps.