Launch all Conversion Nodes
A launch file that starts all nodes that convert vision data to marker / marker-arrays for visualization in RViz.
In a terminal, run:
ros2 launch soccer_marker_generation all.launch.py
Subscription Topics
vision/ball (soccer_object_msgs/msg/Ball)
vision/goalposts (soccer_object_msgs/msg/GoalpostArray)
vision/field_lines (soccer_object_msgs/msg/FieldLineArray)
vision/flags (soccer_object_msgs/msg/FlagArray)
vision/robots (soccer_object_msgs/msg/RobotArray)
Publishing Topics
visualization/ball (visualization_msgs/Marker)
visualization/goalposts (visualization_msgs/MarkerArray)
visualization/field_lines (visualization_msgs/MarkerArray)
visualization/flags (visualization_msgs/MarkerArray)
visualization/robots (visualization_msgs/MarkerArray)
Tip
It is recommended to create your own launch file, similar to all.launch.py that launches only the nodes you need.