Example Applications for FogROS2

Running Examples:

To run gqcnn

ros2 launch fogros2_examples gqcnn_docker.launch.py

and run gqcnn's client:

docker run --net=host --env RMW_IMPLEMENTATION=rmw_cyclonedds_cpp --env CYCLONEDDS_URI=file:///tmp/cyclonedds.xml -v $(pwd)/install/share/fogros2/configs/cyclonedds.xml:/tmp/cyclonedds.xml --rm -it keplerc/gqcnn_ros:pj ros2 launch gqcnn_ros client.launch.py

in ros workspace.

To run vslam

See tutorial walkthrough here

Run VSLAM:

ros2 launch fogros2_examples vslam.launch.py

and run vslam's client:

docker run --net=host --env RMW_IMPLEMENTATION=rmw_cyclonedds_cpp --env CYCLONEDDS_URI=file:///tmp/cyclonedds.xml -v $(pwd)/install/share/fogros2/configs/cyclonedds.xml:/tmp/cyclonedds.xml --rm -it -v /home/gdpmobile7/rgbd_dataset_freiburg1_xyz:/dataset -v $(pwd)/output:/output mjd3/orbslam-ros ros2 launch orb_slam2_ros orb_slam2_d435_rgbd_client_launch.py dataset:=/dataset compress:=0

in ros workspace.