Demo: visual odomtery on the robot (local)

This demo runs the visual odometry algorithm on the robot and the visualization in the local PC. The Rapyuta framework is not used in this demo.

To run the visual odometry log into the robot N using ssh (password: passwordx)

ssh odroid@cloudbotN

Update the rapyuta-mapping repository if necessary

cd workspace/src/rapyuta-mapping/
git pull
rosmake rm_localization rm_openni2 rm_openni2_camera

Check that /etc/profile has the correct ROS_MASTER_URI, typically pointing at the PC. Next, start the roscore in the PC.

Launch the visual odometry and other robot processes

roslaunch rm_launch robot.launch

Make sure that the clocks on the robot and on the PC are syncronized. If they are not use ntpdate command to sync them.