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[ How to create static map in ROS? ](/question/241239/how-to-create-static-
map-in-ros/)


Thank you, it is what I wanted. However, crashing in Transform constructor
with cv::Mat may be related to which libraries are loaded on runtime,
corrupting memory.


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[ senoa95  ](https://discourse.ros.org/u/senoa95) December 12, 2017, 9:07pm  1


  1.1 Examine the code  ï

Now, letâs take a look at the code that is relevant to publishing the turtle
pose to tf2. Firstly, we define and acquire a single parameter ` turtlename  `
, which specifies a turtle name, e.g. ` turtle1  ` or ` turtle2  ` .

    turtlename_ = this->declare_parameter<std::string>("turtlename", "turtle");

Afterward, the node subscribes to topic ` turtleX/pose  ` and runs function `
handle_turtle_pose  ` on every incoming message.

    subscription_ = this->create_subscription<turtlesim::msg::Pose>(
      topic_name, 10,
      std::bind(&FramePublisher::handle_turtle_pose, this, _1));

Now, we create a ` TransformStamped  ` object and give it the appropriate
metadata.

  1. We need to give the transform being published a timestamp, and weâll just stamp it with the current time by calling ` this->get_clock()->now()  ` . This will return the current time used by the ` Node  ` .

  2. Then we need to set the name of the parent frame of the link weâre creating, in this case ` world  ` .

  3. Finally, we need to set the name of the child node of the link weâre creating, in this case this is the name of the turtle itself.

The handler function for the turtle pose message broadcasts this turtleâs
translation and rotation, and publishes it as a transform from frame ` world
` to frame ` turtleX  ` .

    geometry_msgs::msg::TransformStamped t;

    // Read message content and assign it to
    // corresponding tf variables


---

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[ aydal  ](https://discourse.ros.org/u/aydal) December 19, 2017, 4:20pm  2


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[ std::bind ](http://en.cppreference.com/w/cpp/utility/functional/bind.html)
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      <!-- *********************** DEPTH CAMERA ******************************  -->
      <!-- The depth camera (e.g. Intel Realsense camera). -->
      <link name="camera_depth_frame">
        <pose>0.12 0 0.65 -1.5708 0 -1.5708</pose>
      </link>

      <link name="camera_link">
        <pose>0.12 0 0.65 0 0 0</pose>

        <visual name="camera_visual">
          <pose>-0.005 0 0 0 0 0</pose>
          <geometry>
            <box>
              <size>0.015 0.08 0.022</size>
            </box>
          </geometry>
          <material>
            <ambient>0 0 0 1.0</ambient>
            <diffuse>0 0 0 1.0</diffuse>
            <specular>0.0 0.0 0.0 1.0</specular>
            <emissive>0.0 0.0 0.0 1.0</emissive>
          </material>
        </visual>

        <sensor name="depth_camera" type="camera">
          <always_on>true</always_on>
          <visualize>false</visualize>
          <update_rate>5</update_rate>
          <camera name="camera">
            <horizontal_fov>1.02974</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>10</far>


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g_connection = depthCamera->ConnectNewDepthFrame(


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[ DepthCameraPtr
](namespacegz_1_1rendering.html#a7b7291d7f5d3bc1ee846763b2e7429a5 "Shared
pointer to DepthCamera.") camera = _scene->CreateDepthCamera(  "camera"  );


Clone the source code, create a build directory and use ` cmake ` and ` make `
to compile the code:


####  Misc


float  maxDepth = 0;


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_imageBuffer[j * 3] = d;


unsigned  char  *_imageBuffer,


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g_camera = _camera;


ConvertDepthToImage(_scan, data, _width, _height);


ir::Image image = g_camera->CreateImage();


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Binding:


camera->SetImageFormat( [ PixelFormat::PF_FLOAT32_RGBA
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This example shows how to use the depth camera.


void  ConvertDepthToImage(


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        * [ Law: study & revision guides ](https://www.bookswagon.com/law-study-revision-guides-books)
        * [ Laws of specific jurisdictions ](https://www.bookswagon.com/laws-of-specific-jurisdictions-books)


* [ Business & Economics ](https://www.bookswagon.com/business-economics-books) __


Binding:


###  By Price


[
![Agamede](https://d2g9wbak88g7ch.cloudfront.net/productimages/mainimages/969/9781938281969.jpg)
](https://www.bookswagon.com/book/agamede-gail-b-schwartz/9781938281969) 19  %
NR


  * [ LinkedIn  ](https://www.linkedin.com/in/addisonsearscollins/)
  * [ YouTube  ](https://www.youtube.com/channel/UCyR7hy8XDVnqzBhdpRirOtg)


##  Code


![Me](https://automaticaddison.com/wp-content/uploads/2020/05/addison-
humanoid-ces-2020.jpg)


  * [ All Categories ](javascript:void\(0\))
  * [ Art & Photography ](javascript:GetSearchCriteria\('books','CategoryID:3'\);)
  * [ Biographies & Memoirs ](javascript:GetSearchCriteria\('books','CategoryID:194'\);)
  * [ Children & Teens ](javascript:GetSearchCriteria\('books','CategoryID:2129'\);)
  * [ Dictionaries & Language ](javascript:GetSearchCriteria\('books','CategoryID:221'\);)
  * [ History & Humanities ](javascript:GetSearchCriteria\('books','CategoryID:383'\);)
  * [ Lifestyle ](javascript:GetSearchCriteria\('books','CategoryID:1890'\);)
  * [ Literature & literary studies ](javascript:GetSearchCriteria\('books','CategoryID:252'\);)
  * [ Parenting, Family & Health ](javascript:GetSearchCriteria\('books','CategoryID:1807'\);)


03 Apr 2023

Language:


[ ![Strawberry Rose and the Summer of
Lights](https://d2g9wbak88g7ch.cloudfront.net/productimages/mainimages/938/9781938281938.jpg)
](https://www.bookswagon.com/book/strawberry-rose-summer-
lights-c/9781938281938) 25  %  NR


![](../../images/svg/graystar.svg) ![](../../images/svg/graystar.svg)
![](../../images/svg/graystar.svg) ![](../../images/svg/graystar.svg)
![](../../images/svg/graystar.svg) ![](../../images/svg/redstar.svg)
![](../../images/svg/redstar.svg) ![](../../images/svg/redstar.svg)
![](../../images/svg/redstar.svg) ![](../../images/svg/redstar.svg) No Review
Yet


English

International Edition


g_image = std::make_shared<ir::Image>(image);


const  [ std::string
](http://en.cppreference.com/w/cpp/string/basic_string.html) & /*_format*/  )


By: [ Joanne De Simone ](https://www.bookswagon.com/author/joanne-de-simone) ,
[ C M Schmidt ](https://www.bookswagon.com/author/c-m-schmidt)


By: [ Jeff Cheney ](https://www.bookswagon.com/author/jeff-cheney) , [ Jean
Young ](https://www.bookswagon.com/author/jean-young)


###  Availability


maxDepth = _data[i];


* [ 0  ![Cart Icon](https://d2g9wbak88g7ch.cloudfront.net/staticimages/cart_white.svg) ](https://www.bookswagon.com/shoppingcart.aspx)


  * [ Home ](https://automaticaddison.com)
  * [ Need Help? ](https://automaticaddison.com/contact/)
  * [ Tutorials ](https://automaticaddison.com/tutorials/)
  * [ About Me ](https://automaticaddison.com/about-me/)


Paperback

---|---

Release:


/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_SIM_SYSTEMS_POSEPUBLISHER_HH_
#define GZ_SIM_SYSTEMS_POSEPUBLISHER_HH_
#include <memory>
#include <gz/sim/config.hh>
#include <gz/sim/System.hh>
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
  // Forward declaration
  class PosePublisherPrivate;
  /// \brief Pose publisher system. Attach to an entity to publish the
  /// transform of its child entities in the form of gz::msgs::Pose
  /// messages, or a single gz::msgs::Pose_V message if
  /// "use_pose_vector_msg" is true.
  ///
  /// ## System Parameters
  ///
  /// - `<publish_link_pose>`: Set to true to publish link pose
  /// - `<publish_visual_pose>`: Set to true to publish visual pose


Free Shipping in India and low cost Worldwide.


[ ](https://www.bookswagon.com/promo-best-seller/now-trending/E5B93FF87A87)


Ships within  12-14 Days  [ Explain..
](https://www.bookswagon.com/shippingpopup.aspx)


  * [ Index ](classes.html)
  * [ List ](annotated.html)
  * [ Hierarchy ](hierarchy.html)
  * [ Members: All ](functions.html)
  * [ Members: Functions ](functions_func.html)
  * [ Members: Variables ](functions_vars.html)
  * [ Members: Typedefs ](functions_type.html)
  * [ Members: Enumerations ](functions_enum.html)
  * [ Members: Enumerator ](functions_eval.html)


Binding:


[ Decline ]() [ Accept & Close ]()


[ Castle Haystack ](https://www.bookswagon.com/book/castle-haystack-c-w-
caitlyn/9781938281785)


By: [ C M Schmidt ](https://www.bookswagon.com/author/c-m-schmidt) , [ Signe
Berglind Hill ](https://www.bookswagon.com/author/signe-berglind-hill) , [ S M
Cabell ](https://www.bookswagon.com/author/s-m-cabell)


      * [ Architecture ](https://www.bookswagon.com/architecture-books)
      * [ Art forms ](https://www.bookswagon.com/art-forms-books)
      * [ Art treatments & subjects ](https://www.bookswagon.com/art-treatments-subjects-books)
      * [ Dance & other performing arts ](https://www.bookswagon.com/dance-other-performing-arts-books)
      * [ Film, tv & radio ](https://www.bookswagon.com/film-tv-radio-books)
      * [ History of art / art & design styles ](https://www.bookswagon.com/history-of-art-art-design-styles-books)
      * [ Industrial / commercial art & design ](https://www.bookswagon.com/industrial-commercial-art-design-books)
      * [ Music ](https://www.bookswagon.com/music-books)
      * [ Photography & photographs ](https://www.bookswagon.com/photography-photographs-books)
      * [ The arts: general issues ](https://www.bookswagon.com/the-arts-general-issues-books)
      * [ Theatre studies ](https://www.bookswagon.com/theatre-studies-books)


####  Books & Fact Sheets


const  float  *_data,


unsigned  char  d =  static_cast< unsigned  char  > (255 - (_data[j] *
factor));


##  Compile and run the example


Publisher: [ Gazebo Gardens Publishing, LLC
](https://www.bookswagon.com/publisher/gazebo-gardens-publishing%2c-llc)


![Bookswagon-24x7 online
bookstore](https://d2g9wbak88g7ch.cloudfront.net/staticimages/logo-new.png)


Paperback

---|---

Release:


![](../../images/svg/graystar.svg) ![](../../images/svg/graystar.svg)
![](../../images/svg/graystar.svg) ![](../../images/svg/graystar.svg)
![](../../images/svg/graystar.svg) ![](../../images/svg/redstar.svg)
![](../../images/svg/redstar.svg) ![](../../images/svg/redstar.svg)
![](../../images/svg/redstar.svg) ![](../../images/svg/redstar.svg) No Review
Yet


The other option is the [ ConnectNewRgbPointCloud
](https://github.com/gazebosim/gz-
rendering/blob/main/include/gz/rendering/DepthCamera.hh#L58) call that
receives colored point cloud data on callback.


By: [ Joanne De Simone ](https://www.bookswagon.com/author/joanne-de-simone) ,
[ S L Heiden ](https://www.bookswagon.com/author/s-l-heiden)


[ Charlie ](https://www.bookswagon.com/book/charlie-jeff-cheney-jean-
young/9781938281976)


* [ Environment & Geography ](https://www.bookswagon.com/environment-geography-books) __


      * [ Biography: general ](https://www.bookswagon.com/biography-general-books)
      * [ Collected biographies ](https://www.bookswagon.com/Collected-biographies-books)
      * [ Diaries, letters & journals ](https://www.bookswagon.com/diaries-letters-journals-books)
      * [ Memoirs ](https://www.bookswagon.com/memoirs-books)
      * [ True stories ](https://www.bookswagon.com/true-stories-books)


  * [ Home ](https://automaticaddison.com)
  * [ Need Help? ](https://automaticaddison.com/contact/)
  * [ Tutorials ](https://automaticaddison.com/tutorials/)
  * [ About Me ](https://automaticaddison.com/about-me/)


[ Mallory in the Forest of Lost Kites
](https://www.bookswagon.com/book/mallory-in-forest-lost-kites/9781938281655)


for  (  unsigned  int  i = 0; i < _height * _width; ++i)


[ ](https://www.bookswagon.com/promo-best-seller/now-trending/E5B93FF87A87)


  * [ All Titles ](/all-titles)
  * [ Our Authors ](/our-authors)
  * [ Our Story ](/our-story)
  * [ Author Submissions ](/author-submissions)
  * [ For Booksellers ](/for-booksellers)
  * [ Contact Us ](/contact-us)


Sort By:


Build the Future


04 Apr 2023

Language:


English

International Edition


* [ Children & Teens ](https://www.bookswagon.com/children-teens-books) __


        * [ Antiques & collectables ](https://www.bookswagon.com/antiques-collectables-books)
        * [ Cookery, Food & Wine ](https://www.bookswagon.com/cookery-food-wine-books)
        * [ Gardening ](https://www.bookswagon.com/gardening-books)
        * [ Handicrafts, decorative arts & crafts ](https://www.bookswagon.com/handicrafts-decorative-arts-crafts-books)
        * [ Hobbies, quizzes & games ](https://www.bookswagon.com/hobbies-quizzes-games-books)
        * [ Home & house maintenance ](https://www.bookswagon.com/home-house-maintenance-books)
        * [ Humour ](https://www.bookswagon.com/humour-books)
        * [ Lifestyle & personal style guides ](https://www.bookswagon.com/lifestyle-personal-style-guides-books)
        * [ Local interest, family history & nostalgia ](https://www.bookswagon.com/local-interest-family-history-nostalgia-books)
        * [ Miscellaneous items ](https://www.bookswagon.com/miscellaneous-items-books)
        * [ Natural history ](https://www.bookswagon.com/Natural-history-books)
        * [ Sports ](https://www.bookswagon.com/sports-books)
        * [ Transport: general interest ](https://www.bookswagon.com/transport-general-interest-books)
        * [ Travel & holiday ](https://www.bookswagon.com/travel-holiday-books)


        * [ Architecture ](https://www.bookswagon.com/architecture-books)
        * [ Art forms ](https://www.bookswagon.com/art-forms-books)
        * [ Art treatments & subjects ](https://www.bookswagon.com/art-treatments-subjects-books)
        * [ Dance & other performing arts ](https://www.bookswagon.com/dance-other-performing-arts-books)
        * [ Film, tv & radio ](https://www.bookswagon.com/film-tv-radio-books)
        * [ History of art / art & design styles ](https://www.bookswagon.com/history-of-art-art-design-styles-books)
        * [ Industrial / commercial art & design ](https://www.bookswagon.com/industrial-commercial-art-design-books)
        * [ Music ](https://www.bookswagon.com/music-books)
        * [ Photography & photographs ](https://www.bookswagon.com/photography-photographs-books)
        * [ The arts: general issues ](https://www.bookswagon.com/the-arts-general-issues-books)
        * [ Theatre studies ](https://www.bookswagon.com/theatre-studies-books)


Most of the code is adapted from [ Simple demo ](simple_demo.html) , here we
outline the key differences.


Publisher: [ Gazebo Gardens Publishing, LLC
](https://www.bookswagon.com/publisher/gazebo-gardens-publishing%2c-llc)


[Msg] Loading plugin [gz-rendering-ogre]


[ **Resend Verification Code**
](javascript:__doPostBack\('ctl00$Footer$ValidateOTP$lnkResendLink',''\))


[ Fun Down Under ](https://www.bookswagon.com/book/fun-down-under-
s-c/9781938281495)


####  Help


The reason for setting the camera image format to `
PixelFormat::PF_FLOAT32_RGBA ` is to ensure that when the ` Image ` is created
it reserves a buffer of the correct size so that it is able to pack both color
and depth data.


* [ Parenting, Family & Health ](https://www.bookswagon.com/parenting-family-health-books) __


By: [ C M Schmidt ](https://www.bookswagon.com/author/c-m-schmidt) , [ D D
Glover ](https://www.bookswagon.com/author/d-d-glover) , [ Signe Berglind Hill
](https://www.bookswagon.com/author/signe-berglind-hill)


Free Shipping in India and low cost Worldwide.


camera->SetLocalPosition(0.0, 0.0, 0.5);


[ Agamede ](https://www.bookswagon.com/book/agamede-gail-b-
schwartz/9781938281969)


Binding:


[ ![List view](https://www.bookswagon.com/images/buttons/list-view-
btnhover.gif) ](javascript:ChangePageLayout\('list'\);) [ ![Grid
view](https://www.bookswagon.com/images/buttons/grid-view-btn.gif)
](javascript:ChangePageLayout\('grid'\);)


[ ](https://www.bookswagon.com/promo-best-seller/now-trending/E5B93FF87A87)


Ships within  12-14 Days  [ Explain..
](https://www.bookswagon.com/shippingpopup.aspx)


[ Strawberry Rose ](https://www.bookswagon.com/book/strawberry-rose-c-d-
glover/9781938281822)


[ ![Mallory in the Forest of Lost
Kites](https://d2g9wbak88g7ch.cloudfront.net/productimages/mainimages/655/9781938281655.jpg)
](https://www.bookswagon.com/book/mallory-in-forest-lost-kites/9781938281655)
26  %  POD/NR


Paperback

---|---

Release:


[ Songwriting ](https://www.bookswagon.com/book/songwriting-aaron-cheney-
s-c/9781938281242)


  * [ New Arrivals ](https://www.bookswagon.com/promo-best-seller/new-arrivals/99325F010C89)
  * [ Box Sets ](https://www.bookswagon.com/promo-best-seller/box-sets/389DA2389287)
  * [ Best sellers ](https://www.bookswagon.com/promo-best-seller/best-seller/03AC998EBDC2)
  * [ Fictions Books ](https://www.bookswagon.com/promo/fiction-books/9D7S5K6U3M)
  * [ Award Winners ](https://www.bookswagon.com/promo-best-seller/award-winning/2109CDC4B4DC)
  * [ Featured Authors ](https://www.bookswagon.com/featured-authors)
  * [ Today's Deal ![Today's Deal](https://www.bookswagon.com/images/dealicon20240328.png) ](https://www.bookswagon.com/dealoftheday/TodaysDeal/B88F238E7C9E)
  * [ Request Books ](https://www.bookswagon.com/requestbook)


English

International Edition


      * [ Agriculture & farming ](https://www.bookswagon.com/agriculture-farming-books)
      * [ Biochemical engineering ](https://www.bookswagon.com/biochemical-engineering-books)
      * [ Civil engineering, surveying & building ](https://www.bookswagon.com/civil-engineering-surveying-building-books)
      * [ Electronics & communications engineering ](https://www.bookswagon.com/electronics-communications-engineering-books)
      * [ Energy technology & engineering ](https://www.bookswagon.com/energy-technology-engineering-books)
      * [ Environmental science, engineering & technology ](https://www.bookswagon.com/environmental-science-engineering-technology-books)
      * [ Industrial chemistry & manufacturing technologies ](https://www.bookswagon.com/industrial-chemistry-manufacturing-technologies-books)
      * [ Mechanical engineering & materials ](https://www.bookswagon.com/mechanical-engineering-materials-books)
      * [ Other technologies & applied sciences ](https://www.bookswagon.com/other-technologies-applied-sciences-books)
      * [ Technology: general issues ](https://www.bookswagon.com/technology-general-issues-books)
      * [ Transport technology & trades ](https://www.bookswagon.com/transport-technology-trades-books)


[ Currency ](javascript:void\(0\)) ₹  $


[ ![Strawberry
Rose](https://d2g9wbak88g7ch.cloudfront.net/productimages/mainimages/815/9781938281815.jpg)
](https://www.bookswagon.com/book/strawberry-rose-c-d-glover/9781938281815) 28
%  POD/NR


      * [ Elt background & reference material ](https://www.bookswagon.com/elt-background-reference-material-books)
      * [ Elt: english for specific purposes ](https://www.bookswagon.com/elt-english-for-specific-purposes-books)
      * [ Elt: learning material & coursework ](https://www.bookswagon.com/elt-learning-material-coursework-books)


When you [ launch RViz ](https://automaticaddison.com/how-to-load-a-urdf-file-
into-rviz-ros-2/) along with Gazebo, you will need to add the Image sensor
option so that you can visualize the depth camera output. Be sure to select
**“Best Effort”** for the reliability policy.


* [ Science & Mathematics ](https://www.bookswagon.com/science-mathematics-books) __


    * [ Our Authors ](/our-authors)
    * About Us
      * [ Our Story ](/our-story)
      * [ Author Submissions ](/author-submissions)
      * [ For Booksellers ](/for-booksellers)


**21** results found


If you need help with something, please **[ fill out this form.
](https://automaticaddison.com/contact/) ** Thank you!


By: [ Gail B Schwartz ](https://www.bookswagon.com/author/gail-b-schwartz)


    * [ All Titles ](/all-titles)
    * [ Children's & Family ](/childrens-%26-family-1)
    * [ Teen & Young Adult ](/teen-%26-young-adult-1)
    * [ New Adult & Adult ](/new-adult-%26-adult-1)
  * [ Our Authors ](/our-authors)
  * About Us


std::placeholders::_4, std::placeholders::_5));


Filter By Category


[ ![Hedgehog
ABCs](https://d2g9wbak88g7ch.cloudfront.net/productimages/mainimages/860/9781938281860.jpg)
](https://www.bookswagon.com/book/hedgehog-abcs-c-schmidt-signe/9781938281860)
25  %  NR


  * [ List ](namespaces.html)
  * [ Members ](namespacemembers.html)
  * [ Functions ](namespacemembers_func.html)
  * [ Typedefs ](namespacemembers_type.html)
  * [ Variables ](namespacemembers_vars.html)
  * [ Enumerations ](namespacemembers_enum.html)
  * [ Enumerator ](namespacemembers_eval.html)


[ ](https://www.bookswagon.com/promo-best-seller/now-trending/E5B93FF87A87)


Publisher: [ Gazebo Gardens Publishing, LLC
](https://www.bookswagon.com/publisher/gazebo-gardens-publishing%2c-llc)


Binding:


![](../../images/svg/graystar.svg) ![](../../images/svg/graystar.svg)
![](../../images/svg/graystar.svg) ![](../../images/svg/graystar.svg)
![](../../images/svg/graystar.svg) ![](../../images/svg/redstar.svg)
![](../../images/svg/redstar.svg) ![](../../images/svg/redstar.svg)
![](../../images/svg/redstar.svg) ![](../../images/svg/redstar.svg) No Review
Yet


if  (_data[i] > maxDepth && ! [ std::isinf
](http://en.cppreference.com/w/cpp/numeric/math/isinf.html) (_data[i]))


[ Automatic Addison ](https://automaticaddison.com/) [ Proudly powered by
WordPress ](https://wordpress.org/)


root->AddChild(camera);


[ 0  ![Cart Icon](https://d2g9wbak88g7ch.cloudfront.net/staticimages/cart.svg)
Cart  ](https://www.bookswagon.com/shoppingcart.aspx)


Free Shipping in India and low cost Worldwide.


  * The image format is set to ` PixelFormat::PF_FLOAT32_RGBA ` ,
  * Anti-alising is enabled,
  * The depth texture is created after configuration is modified from defaults.


[ ![Mating
Habits](https://d2g9wbak88g7ch.cloudfront.net/productimages/mainimages/808/9781938281808.jpg)
](https://www.bookswagon.com/book/mating-habits-joanne-de-
simone/9781938281808) 17  %  POD/NR


      * [ Earth sciences ](https://www.bookswagon.com/earth-sciences-books)
      * [ Geography ](https://www.bookswagon.com/geography-books)
      * [ Regional & area planning ](https://www.bookswagon.com/regional-area-planning-books)
      * [ The environment ](https://www.bookswagon.com/the-environment-books)


[ Log in ](https://www.bookswagon.com/login) [ New to Bookswagon?
Sign up ](https://www.bookswagon.com/login?q=signup)


[ ![Strawberry Rose and the Summer of
Lights](https://d2g9wbak88g7ch.cloudfront.net/productimages/mainimages/952/9781938281952.jpg)
](https://www.bookswagon.com/book/strawberry-rose-summer-
lights-c/9781938281952) 24  %  NR


![Print On Demand](https://www.bookswagon.com/images/buttons/pod2.png) **Print
On Demand (POD) titles :** are those which have been especially printed by the
Publisher / Vendor partner only after an order for them has been received.
They are also classified as Non-Returnable.
**Non-Returnable titles :** are those which have been classified as Non-
Returnable under any circumstance by International Publishers / Vendor
partners.


void  OnNewDepthFrame(  const  float  *_scan,


        * [ Biography: general ](https://www.bookswagon.com/biography-general-books)
        * [ Collected biographies ](https://www.bookswagon.com/Collected-biographies-books)
        * [ Diaries, letters & journals ](https://www.bookswagon.com/diaries-letters-journals-books)
        * [ Memoirs ](https://www.bookswagon.com/memoirs-books)
        * [ True stories ](https://www.bookswagon.com/true-stories-books)


Ships within  12-14 Days  [ Explain..
](https://www.bookswagon.com/shippingpopup.aspx)


* [ Fiction ](https://www.bookswagon.com/fiction-books) __


The depth camera is capable of generating both color and depth data. This
example shows how to connect and receive depth data in the ` OnNewDepthFrame()
` callback function.


#  Gazebo Rendering


* [ Society & social sciences ](https://www.bookswagon.com/society-social-sciences-books) __


      * [ Astronomy, space & time ](https://www.bookswagon.com/astronomy-space-time-books)
      * [ Biology, life sciences ](https://www.bookswagon.com/biology-life-sciences-books)
      * [ Chemistry ](https://www.bookswagon.com/chemistry-books)
      * [ Mathematics ](https://www.bookswagon.com/mathematics-books)
      * [ Physics ](https://www.bookswagon.com/physics-books)
      * [ Science: general issues ](https://www.bookswagon.com/science-general-issues-books)


[ ir::DepthCameraPtr
](namespacegz_1_1rendering.html#a7b7291d7f5d3bc1ee846763b2e7429a5 "Shared
pointer to DepthCamera.") depthCamera =
std::dynamic_pointer_cast<ir::DepthCamera>(


Search for:  Search


[ ![Inside Out
Yoga](https://d2g9wbak88g7ch.cloudfront.net/productimages/mainimages/846/9781938281846.jpg)
](https://www.bookswagon.com/book/inside-out-yoga-annette-lee/9781938281846)
28  %  POD/NR


Gazebo Gardens Publishing proudly offers a variety of fiction and nonfiction
books for all ages. All of our books are available from Ingram and directly
from Gazebo Gardens for a discount to bookstores.


  * [ Our Authors  ](/our-authors)
  * About Us
    * [ Our Story  ](/our-story)
    * [ Author Submissions  ](/author-submissions)
    * [ For Booksellers  ](/for-booksellers)


ESC - Exit


camera->SetLocalRotation(0.0, 0.0, 0.0);


##  Refine your Search


* [ Parenting, Family & Health ](https://www.bookswagon.com/parenting-family-health-books) __


* [ Biographies & Memoirs ](https://www.bookswagon.com/biographies-memoirs-books) __


06 Oct 2023

Language:


By: [ C M Schmidt ](https://www.bookswagon.com/author/c-m-schmidt) , [ Signe
Berglind Hill ](https://www.bookswagon.com/author/signe-berglind-hill) , [ S M
Cabell ](https://www.bookswagon.com/author/s-m-cabell)


[ ](https://www.bookswagon.com/promo-best-seller/now-trending/E5B93FF87A87)


      * [ International law ](https://www.bookswagon.com/international-law-books)
      * [ Jurisprudence & general issues ](https://www.bookswagon.com/jurisprudence-general-issues-books)
      * [ Law: study & revision guides ](https://www.bookswagon.com/law-study-revision-guides-books)
      * [ Laws of specific jurisdictions ](https://www.bookswagon.com/laws-of-specific-jurisdictions-books)


![loading](https://www.bookswagon.com/images/dynamic/ajax-loader-
transparent.gif) Loading more results


Paperback

---|---

Release:


Publisher: [ Gazebo Gardens Publishing, LLC
](https://www.bookswagon.com/publisher/gazebo-gardens-publishing%2c-llc)


* [ English Language Teaching ](https://www.bookswagon.com/english-language-teaching-books) __


Menu


cd gz-rendering/examples/depth_camera


15 Feb 2021

Language:


[ Hedgehog ABCs ](https://www.bookswagon.com/book/hedgehog-abcs-c-schmidt-
signe/9781938281860)


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// create camera


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cd build


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By: [ C M Schmidt ](https://www.bookswagon.com/author/c-m-schmidt) , [ William
W Steidel ](https://www.bookswagon.com/author/william-w-steidel) , [ Caitlyn M
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_imageBuffer[j * 3 + 1] = d;


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#  For Booksellers


###  Publication Year


![Humburger
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  /// - `<publish_collision_pose>`: Set to true to publish collision pose
  /// - `<publish_sensor_pose>`: Set to true to publish sensor pose
  /// - `<publish_model_pose>`: Set to true to publish model pose.
  /// - `<publish_nested_model_pose>`: Set to true to publish nested model
  ///   pose. The pose of the model that contains this system is also published
  ///   unless publish_model_pose is set to false
  /// - `<use_pose_vector_msg>`: Set to true to publish a gz::msgs::Pose_V
  ///   message instead of mulitple gz::msgs::Pose messages.
  /// - `<update_frequency>`: Frequency of pose publications in Hz. A negative
  ///   frequency publishes as fast as possible (i.e, at the rate of the
  ///   simulation step)
  /// - `<static_publisher>`: Set to true to publish static poses on a
  ///   "<scoped_entity_name>/pose_static" topic. This will cause only dynamic
  ///   poses to be published on the "<scoped_entity_name>/pose" topic.
  /// - `<static_update_frequency>`: Frequency of static pose publications in
  ///   Hz. A negative frequency publishes as fast as possible (i.e, at the
  ///   rate of the simulation step).
  class PosePublisher
      : public System,
        public ISystemConfigure,
        public ISystemPostUpdate
  {
    /// \brief Constructor
    public: PosePublisher();
    /// \brief Destructor
    public: ~PosePublisher() override = default;
    // Documentation inherited
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) override;
    // Documentation inherited
    public: void PostUpdate(
                const UpdateInfo &_info,
                const EntityComponentManager &_ecm) override;
    /// \brief Private data pointer
    private: std::unique_ptr<PosePublisherPrivate> dataPtr;
  };
  }
}
}
}
#endif


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git clone https://github.com/gazebosim/gz-rendering


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make


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To add a simulated depth camera to your SDF file, you will need to add code
that looks like this:


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camera->SetHFOV(GZ_PI / 2);


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In the cover image, you can see a depth camera that was added to a [ simulated
robot in Gazebo ](https://automaticaddison.com/how-to-load-a-robot-model-sdf-
format-into-gazebo-ros-2/) . An depth camera is useful for performing tasks
like object recognition, facial recognition, obstacle avoidance, and more.


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11 Jan 2023

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06 Oct 2023

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#  How to Add a Depth Camera to an SDF File for Gazebo


###  Source


cmake ..


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unsigned  int  /*_channels*/  ,


It converts the depth image to a RGB grayscale format and copies it from the
depth camera to a memory reserved in a globally scoped ` Image ` .


std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,


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lights-c/9781938281952)


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camera->CreateDepthTexture();


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[ ](https://www.bookswagon.com/promo-best-seller/now-trending/E5B93FF87A87)


By: [ C M Schmidt ](https://www.bookswagon.com/author/c-m-schmidt) , [ William
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void  initCamera( [ ir::CameraPtr
](namespacegz_1_1rendering.html#afc9577975b8c7e847de55c43bd5798c0 "Shared
pointer to Camera.") _camera)


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The function ` buildScene() ` is responsible for creating and configuring the
depth camera. The main points to note are:


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unsigned  int  _width,  unsigned  int  _height,


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./depth_camera ogre


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unsigned  char  *data = g_image->Data< unsigned  char  >();


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The window updating code is in ` GlutWindow.cc ` . The function ` initCamera()
` registers a callback with the camera that captures a copy of the depth image
each frame. This will later be drawn to the window in the main update loop.


![Print On Demand](https://www.bookswagon.com/images/buttons/pod2.png) **Print
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14 Apr 2023

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##  Recent Posts


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    * Book List
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06 Oct 2023

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##  Connect With Me on LinkedIn!


_imageBuffer[j * 3 + 2] = d;


imgh = g_camera->ImageHeight();


My goal is to meet everyone in the world who loves robotics. **[ Connect with
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found my information useful to you. Also **[ follow my LinkedIn page
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Execute the example:


Adding a depth camera is important if you’re planning to build a robust robot
for the real-world that will use the [ ROS 2 Navigation stack.
](https://automaticaddison.com/the-ultimate-guide-to-the-ros-2-navigation-
stack/)


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            </clip>
            <noise>
              <type>gaussian</type>
              <!-- Noise is sampled independently per pixel on each frame.
                   That pixel's noise value is added to each of its color
                    channels, which at that point lie in the range [0,1]. -->
              <mean>0.0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <plugin name="depth_camera_controller" filename="libgazebo_ros_camera.so">
            <camera_name>depth_camera</camera_name>
            <frame_name>camera_depth_frame</frame_name>
            <hack_baseline>0</hack_baseline>
            <min_depth>0.001</min_depth>
          </plugin>
        </sensor>
      </link>


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double  factor = 255 / maxDepth;


![depth-camera](https://automaticaddison.com/wp-content/uploads/2021/12/depth-
camera.jpg)


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* [ Global Localization ](https://docs.nvidia.com/isaac/doc/extensions/localization/doc/index.html#global-localization)


configuring-nav2-costmap-2d)
        * [ Build, Run and Verification ](../../setup_guides/sensors/setup_sensors.html


[ ![_images/jackalsavedmap.png](_images/jackalsavedmap.png)
](_images/jackalsavedmap.png)


planners)
    * [ Smoothers ](../../plugins/index.html


overview)
      * [ Costmap2D and STVL ](navigation2_with_stvl.html


##  Make the robot move in the environment


create-a-new-controller-plugin)
        * [ 2- Exporting the controller plugin ](../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html


dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector)
      * [ Expose action server’s result timeout ](../../migration/Iron.html


tutorial-steps)
        * [ 1- Creating a new BT Plugin ](../../plugin_tutorials/docs/writing_new_bt_plugin.html


* [ Running the Navigation Stack with a Configuration File ](https://docs.nvidia.com/isaac/doc/extensions/navigation_stack/doc/index.html#running-the-navigation-stack-with-a-configuration-file)


* [ Join ](https://docs.nvidia.com/login)


After specifying the path to the USD scene, specify the YAML server graph that
ships with Isaac Sim: ` exts/omni.isaac.gxf_bridge/data/config/tcp_server.yaml
` . If running a custom scene that includes an ActionGraph that will generate
the TCP server application, you do not need to specify additional YAML files
on the command line.


map-saver-parameters)
      * [ Map Server Parameters ](../../configuration/packages/configuring-map-server.html


As a prerequisite for this tutorial, make sure you have installed Ubuntu and
ROS2 on your computer. I strongly recommend using a dual boot for Ubuntu, not
a virtual machine (3D tools like Gazebo are usually not working well on VMs).
If you do want to use a VM, choose VMWare Workstation (free version) over
VirtualBox.


* [ Isaac AMR ](https://docs.nvidia.com/isaac/doc/index.html)


[ NVIDIA Docs Hub ](https://docs.nvidia.com/) [ NVIDIA Isaac AMR
](https://docs.nvidia.com/isaac/index.html) [ Isaac AMR
](https://docs.nvidia.com/isaac/doc/index.html) [ Running the Navigation Stack
in Isaac Sim
](https://docs.nvidia.com/isaac/doc/extensions/navigation_stack/doc/navigation_stack_on_isaac_sim.html)


replanning-at-a-constant-rate-and-if-the-path-is-invalid)
      * [ Euclidean Distance 2D ](../../migration/Galactic.html


fusing-vio-into-local-state-estimate)
        * [ Fusing VSLAM Into Global State Estimate ](integrating_vio.html


* [ Outputs ](https://docs.nvidia.com/isaac/doc/extensions/controller/doc/index.html#outputs)


rosrun map_server map_saver -f jackal_world


Add this line at the end of your .bashrc: ` export TURTLEBOT3_MODEL=waffle ` .
After doing that, make sure to source the .bashrc, or to open a new terminal.


building-a-development-image)
        * [ Visualizations from Docker ](docker_dev.html


* [ Rendering ](https://docs.nvidia.com/isaac/doc/extensions/sight/doc/frontend.html#rendering)


Tip


Once you run this, you should see some logs in white and maybe yellow. If it
doesn’t work (red error logs), try again several times.


install-stvl)
        * [ 1- Modify Navigation2 Parameter ](navigation2_with_stvl.html


new-costmap-layer)
    * [ Foxy to Galactic ](../../migration/Foxy.html)
      * [ NavigateToPose Action Feedback updates ](../../migration/Foxy.html


smoothers)
    * [ Behaviors ](../../plugins/index.html


costmap-filter-info-server-parameters)
      * [ Example ](../../configuration/packages/configuring-map-server.html


* [ nvidia::isaac::MotionCostConfigLoader ](https://docs.nvidia.com/isaac/doc/extensions/regional_path_planner/doc/index.html#n)


  * Overview
    * [ Home ](/)
    * [ About ](/about/)
    * [ Wiki Index ](/wiki/)
    * [ Contribute ](/docs/)
  * [ System Design & Development  ](/wiki/system-design-development/)
    * [ System Engineering ](/wiki/system-design-development/system-engineering/)
    * [ Mechanical Design ](/wiki/system-design-development/mechanical-design/)
    * [ Printed Circuit Board Design ](/wiki/system-design-development/pcb-design/)
    * [ Cable Management ](/wiki/system-design-development/cable-management/)
    * [ Subsystem Interface Modeling ](/wiki/system-design-development/subsystem-interface-modeling/)
    * [ In Loop Testing ](/wiki/system-design-development/In-Loop-Testing/)
  * [ Project Management  ](/wiki/project-management/)
    * [ Drone Flight Permissions ](/wiki/project-management/drone-flight-permissions/)
    * [ Product Development in Complex Systems ](/wiki/project-management/product-development-complex-systems/)
    * [ Risk Management ](/wiki/project-management/risk-management/)
    * [ Jira ](/wiki/project-management/jira/)
    * [ Using Notion for Project Management ](/wiki/project-management/using-notion-for-project-management/)
  * [ Common Platforms  ](/wiki/common-platforms/)
    * [ DJI Breakdown for Technical Projects ](/wiki/common-platforms/dji-drone-breakdown-for-technical-projects/)
    * [ DJI SDK ](/wiki/common-platforms/dji-sdk/)
    * [ Pixhawk ](/wiki/common-platforms/pixhawk/)
    * [ Asctec Pelican UAV Setup Guide ](/wiki/common-platforms/asctec-uav-setup-guide/)
    * [ Husky Interfacing Procedure ](/wiki/common-platforms/husky_interfacing_and_communication/)
    * [ Universal Robots UR5e Collaborative Robotic Arm ](/wiki/common-platforms/ur5e/)
    * [ ROS Introduction ](/wiki/common-platforms/ros/ros-intro/)
    * [ ROS Arduino Interface ](/wiki/common-platforms/ros/ros-arduino-interface/)
    * [ ROS Motion Server Framework ](/wiki/common-platforms/ros/ros-motion-server-framework/)
    * [ ROS Cost Maps ](/wiki/common-platforms/ros/ros-cost-maps/)
    * [ ROS Mapping and Localization ](/wiki/common-platforms/ros/ros-mapping-localization/)
    * [ ROS Navigation ](/wiki/common-platforms/ros/ros-navigation/)
    * [ ROS Global Planner ](/wiki/common-platforms/ros/ros-global-planner/)
    * [ Running ROS On An Unsupported OS ](/wiki/common-platforms/ros/ros-unsupported-os)
    * [ Making RC Vehicles Autonomous ](/wiki/common-platforms/rccars-the-complete-guide/)
    * [ Khepera 4 ](/wiki/common-platforms/khepera4/)
    * [ ROS 2 Navigation for Clearpath Husky ](/wiki/common-platforms/ros2-navigation-for-clearpath-husky/)
  * [ Sensing  ](/wiki/sensing/)
    * [ Tracking vehicles using a static traffic camera ](/wiki/sensing/trajectory_extraction/)
    * [ Adafruit GPS ](/wiki/sensing/adafruit-gps/)
    * [ AprilTags ](/wiki/sensing/apriltags/)


* [ Outputs ](https://docs.nvidia.com/isaac/doc/extensions/linux_joystick/doc/index.html#outputs)


$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py


##  Workflow Overview


twirling-critic)
        * [ Velocity Deadband Critic ](../../configuration/packages/configuring-mppic.html


* [ Security ](https://docs.nvidia.com/isaac/doc/release_notes.html#security)


collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior)
      * [ BtActionServer: use native library haltTree() ](../../migration/Iron.html


* [ Lidar Based Localization Limitations ](https://docs.nvidia.com/isaac/doc/release_notes.html#lidar-based-localization-limitations)


* [ Sight Visualization Limitations and User Advice ](https://docs.nvidia.com/isaac/doc/release_notes.html#sight-visualization-limitations-and-user-advice)


costmap-filters)
      * [ Other Forms ](../../concepts/index.html


build-
instructions) .


    VelocityPolygonStop:
      type: "velocity_polygon"
      action_type: "stop"
      min_points: 6
      visualize: True
      enabled: True
      polygon_pub_topic: "velocity_polygon_stop"
      velocity_polygons: ["rotation", "translation_forward", "translation_backward", "stopped"]
      holonomic: false
      rotation:
        points: "[[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]"
        linear_min: 0.0
        linear_max: 0.05
        theta_min: -1.0
        theta_max: 1.0
      translation_forward:
        points: "[[0.35, 0.3], [0.35, -0.3], [-0.2, -0.3], [-0.2, 0.3]]"
        linear_min: 0.0
        linear_max: 1.0
        theta_min: -1.0
        theta_max: 1.0
      translation_backward:
        points: "[[0.2, 0.3], [0.2, -0.3], [-0.35, -0.3], [-0.35, 0.3]]"
        linear_min: -1.0
        linear_max: 0.0
        theta_min: -1.0
        theta_max: 1.0


./isaac-sim.sh --allow-root


enable-speed-filter)
        * [ 4\. Run Nav2 stack ](navigation2_with_speed_filter.html


* [ nvidia::isaac::TensorSplit ](https://docs.nvidia.com/isaac/doc/extensions/egm_fusion/doc/lidar_distance_map.html#n)


[ Nav2 ![Logo](../../_static/nav2_logo_powered.png) ](../../index.html)

latest

  * [ Getting Started ](../../getting_started/index.html)
    * [ Installation ](../../getting_started/index.html


![](/wiki/planning/assets/mission_exec.png)


* [ Localization ](https://docs.nvidia.com/isaac/doc/extensions/localization/doc/index.html)


##  Running Omniverse Isaac Sim


navigate-to-pose-with-replanning-and-recovery)
      * [ Navigation Subtree ](../../behavior_trees/overview/detailed_behavior_tree_walkthrough.html


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remembering your preferences and repeat visits. By clicking “Accept All”, you
consent to the use of ALL the cookies. However, you may visit "Cookie
Settings" to provide a controlled consent.


requirements)
      * [ Tutorial Steps ](navigation2_with_keepout_filter.html


    source ~/jackal_navigation/devel/setup.bash
    roslauch jackal_gazebo jackal_world.launch


[ ![The Robotics Back-End](https://roboticsbackend.com/wp-
content/uploads/2020/02/favicon_white.png) ](https://roboticsbackend.com/ "The
Robotics Back-End")


* [ Triggering Map Creation ](https://docs.nvidia.com/isaac/doc/tutorials/mapping.html#triggering-map-creation)


The PGM file is the image representing the map, with white (free space), black
(obstacles) and grey pixels (unknown space).


2. Temporarily remove any dynamic objects (eg. moving obstacles, robots, etc.) from the scene.


* [ Visual-Inertial Odometry (VIO) ](https://docs.nvidia.com/isaac/doc/extensions/vslam/doc/cuvslam.html#visual-inertial-odometry-vio)


This tutorial merely scratched the surface of the ROS navigation packages, but
I hope this helped you understand some of the basics concepts, and get you
started exploring ROS navigation for yourself!


  * Understand how Nav2 works behind the hoods, with all components: global/local planner, parameters, TFs, etc.
  * Learn how to build your own simulated world in Gazebo to be able to use Nav2 for your own office/classroom/building.
  * Get an intro on how to adapt a custom robot for Nav2, with all the steps.
  * Program with Nav2 directly using Python instead of the buttons on RViz.
  * And even more tips and best practices.


* [ Connecting the PC to the Robot ](https://docs.nvidia.com/isaac/doc/getting_started.html#connecting-the-pc-to-the-robot)


##  Localization  Â¶


example)
    * [ Costmap 2D ](../../configuration/packages/configuring-costmaps.html)
      * [ Costmap2D ROS Parameters ](../../configuration/packages/configuring-costmaps.html


* [ Tools ](https://docs.nvidia.com/isaac/doc/tools/index.html)


new-packages)
      * [ New Plugins ](../../migration/Dashing.html


run-pure-pursuit-controller-plugin)
    * [ Writing a New Behavior Tree Plugin ](../../plugin_tutorials/docs/writing_new_bt_plugin.html)
      * [ Overview ](../../plugin_tutorials/docs/writing_new_bt_plugin.html


And this tutorial is in fact inspired by this 1H crash course video:


waypoint-task-executors)
    * [ Goal Checkers ](../../plugins/index.html


##  Navigation Stack Design 1 : [ Planning based approach
](https://www.youtube.com/watch?v=K1_bagcw8Gc&themeRefresh=1)


A [ video walkthrough ](https://youtu.be/2atp6cs73uc) is also available for
this Isaac Sim tutorial.


changes-to-mppi-path-angle-critic)
      * [ Changes to MPPI Path Handling For Directionality ](../../migration/Iron.html


* [ nvidia::isaac::SumCostConfigLoader ](https://docs.nvidia.com/isaac/doc/extensions/regional_path_planner/doc/index.html#n)


Copied!


* [ Outputs ](https://docs.nvidia.com/isaac/doc/extensions/robot_remote_control/doc/index.html#outputs)


progress-checkers)
    * [ Behavior Tree Nodes ](../../plugins/index.html


Others


1. If running Isaac Sim from a **local desktop** , launch Isaac Sim manually from the container terminal as follows:


* [ Entity Enabler ](https://docs.nvidia.com/isaac/doc/extensions/behavior_executor/doc/index.html#entity-enabler)


add-velocitypolygon-in-collision-monitor)
      * [ Change polygon points parameter format in Collision Monitor ](../../migration/Iron.html


setup-navigation-system)
        * [ 3- Interactive GPS Waypoint Follower ](navigation2_with_gps.html


Enter your search term...


replanning-only-if-path-is-invalid)
      * [ Fix CostmapLayer clearArea invert param logic ](../../migration/Galactic.html


__ [ ROS Tutorials ](index.html)


Note


full-stack-uses-node-clocks)
      * [ New Graceful Motion Controller ](../../migration/Iron.html


backup-behavior-parameters)
      * [ DriveOnHeading Behavior Parameters ](../../configuration/packages/configuring-behavior-server.html


With the optional “-f” argument you can specify the path/name for the map.
Don’t add any extension, this will be done automatically for you.


1. Select **Window > Extension ** from the menu at the top of the Isaac Sim window.


overview)
      * [ Requirements ](navigation2_on_real_turtlebot3.html


Once the planner and the controller were ready, there was a need to integrate
them with the rest of the system. For this we wrote the Mission Executive
class. Mission Executive does a lot of things during the operation. The first
thing it is incharge of is asking the latest fleet information from the fleet
management system and then setting up the controller servers for each robot in
the fleet. It also listens for any changes in the fleet from the FMS and takes
appropriate action based on it. It listens to tasks from the task allocation
subsystem and is in charge of executing this mission. It first runs the
planner on the tasks received from the task allocation. If planning was
successful then the mission executive creates a ROS action client for each
successful plan and then sends the planned trajectory to the appropriate
controller server for execution. Then the mission executive also monitors the
execution of the controller and gets ready for a new mission as soon as the
controllers are done executing.


* [ Algorithm ](https://docs.nvidia.com/isaac/doc/extensions/odometry/doc/index.html#algorithm)


Centralised family of algorithms can be further subdivided into two classes of
approaches


nav2-rviz-panel-action-feedback-information)
    * [ Galactic to Humble ](../../migration/Galactic.html)
      * [ Major improvements to Smac Planners ](../../migration/Galactic.html


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behavior-server-parameters)
      * [ Default Plugins ](../../configuration/packages/configuring-behavior-server.html


* [ Live Testing ](https://docs.nvidia.com/isaac/doc/extensions/localization/doc/index.html#live-testing)


example)
    * [ NavFn Planner ](../../configuration/packages/configuring-navfn.html)
      * [ Parameters ](../../configuration/packages/configuring-navfn.html


You must select the Isaac Sim scene corresponding to the ` omap_path  ` and `
environment  ` specified in the navigation stack configuration to ensure the
navigation stack uses the occupancy map generated from the Isaac Sim scene you
are using. Otherwise, navigation will not succeed.


help)
        * [ Build Troubleshooting Guide ](../../development_guides/build_docs/build_troubleshooting_guide.html)
    * [ Dev Containers ](../../development_guides/devcontainer_docs/index.html)
      * [ Dev Container Guide ](../../development_guides/devcontainer_docs/devcontainer_guide.html)
        * [ Creating Dev Containers ](../../development_guides/devcontainer_docs/devcontainer_guide.html


conclusion)
    * [ Filtering of Noise-Induced Obstacles ](filtering_of_noise-induced_obstacles.html)
      * [ Overview ](filtering_of_noise-induced_obstacles.html


enable-the-plugin-in-costmap2d)
        * [ 4- Run GradientLayer plugin ](../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html


* [ Endpoints ](https://docs.nvidia.com/isaac/doc/cloud/02_mission_control_api.html#endpoints)


* [ Algorithm ](https://docs.nvidia.com/isaac/doc/extensions/semantic_region_extractor/doc/index.html#algorithm)


###  Running Isaac Sim on AWS (optional)


* Details


  * Free space (will turn white),
  * Obstacle (will turn black),
  * Unknown space (will stay grey).


* [ Stopping When Obstacles are Close ](https://docs.nvidia.com/isaac/doc/release_notes.html#stopping-when-obstacles-are-close)


standards)
      * [ Global Positioning: Localization and SLAM ](../../concepts/index.html


overview)
      * [ Requirements ](navigation2_with_slam.html


* [ Inputs ](https://docs.nvidia.com/isaac/doc/extensions/behavior_executor/doc/index.html#inputs)


* [ Global Localization: max_output_error ](https://docs.nvidia.com/isaac/doc/extensions/localization/doc/index.html#global-localization-max-output-error)


  * Skip to primary navigation
  * Skip to content
  * Skip to footer


###  2D pose estimate and Navigation goals


creating-a-new-bt-plugin)
        * [ 2- Exporting the planner plugin ](../../plugin_tutorials/docs/writing_new_bt_plugin.html


* [ Documentation Overview ](https://docs.nvidia.com/isaac/doc/overview.html#documentation-overview)