uskin_ros_publisher

ROS package for publishing data being retrieved by uSkin sensor. (https://www.xelarobotics.com/product_XR1946?lang=en)
Real-time data visualization is also supported on RViz using the Grid Map ROS package. (https://github.com/ANYbotics/grid_map)

Dependencies

This repository is dependent on ARQ-CRISP/ros_can_drivers files and is included here as a gitsubmodule. After cloning this repo, run:
git submodule init

And to get lastest updates on ros_can_drivers simply run:
git submodule update --init --recursive

Notes:

• ARQ-CRISP/ros_can_drivers repository has its own dependencies which need to be installed. Refer to https://github.com/ARQ-CRISP/uskin_can_drivers

• If you make changes to uskin_can_drivers submodule, do not forget to push your commits:
  cd <submodule_dir>
git add <something>
git commit
git push
cd .. # Back to main repository
  git add <something>
git commit
git push
  or simply:
  git push --recurse-submodules=on-demand # From main repository

• You must still commit your changes on the submodule.

Real-Time Data Visualization

• Installing Grid Map ROS package:
  sudo apt-get install ros-$ROS_DISTRO-grid-map

• Launching the necessary software:
  roslaunch uskin_ros_publisher grid_map_visualization.launch

Data storage

• Current version allows you to store the sensor data into a .csv file which is named after the timestamp when it is opened, and stored in csv_files folder. uskin_can_drivers logs are being stored under log_files folder.

• You are able to record a ROS bag of observation samples being published to topic /uskin_xyz_values by running:
  rosbag record /uskin_xyz_values
  And play it back by running:
  rosbag play example.bag