From 30e66f95ddbe3e991deeccf6dd5db3f64a7431e8 Mon Sep 17 00:00:00 2001 From: Ben Adler Date: Wed, 21 Nov 2012 14:28:52 +0100 Subject: [PATCH] more documentation --- README.md | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index c68c1c4..5a952a2 100644 --- a/README.md +++ b/README.md @@ -19,11 +19,18 @@ Usage When cognidrive_ros starts (as a ROS node), it also starts a complete MIRA framework, forwarding all command-line arguments. If you pass - * "-c|--config miraconfig.xml", the contained MIRA framework will start in-process, loading all other MIRA units. - * "-k|--known-fw host:port", the contained MIRA framework will connect to an already-running MIRA-framework on host:port. + * "-c | --config miraconfig.xml", the contained MIRA framework will start in-process, loading all other MIRA units. + * "-k | --known-fw host:port", the contained MIRA framework will connect to an already-running MIRA-framework on host:port. Right now, the -c argument is disabled, because running MIRA and ROS in the same process leads to crashes. This is because MIRA uses the system's version of opencv (2.3) and ROS uses its own (2.4), but these versions are not binary compatible. +A typical way to use ROS with CogniDrive is: + + * go to directory containing the MIRA configuration file (e.g. PilotDemo.xml), then start "mira -c PilotDemo.xml". In this file, MIRA is instructed to listen on -> -> , e.g. port 1234. + * start cognidrive_ros and pass -k 127.0.0.1:1234, so that the MIRA framework in cognidrive_ros will connect to the instance of MRIA you started above. + * start "rosrun rviz rviz" to visualize laserscans and transforms, set pose estimates or 2d nav goals. + * start "miracenter" and connect to the running MIRA framework at 127.0.0.1:1234 to see the same things in MIRA. + Support =======